基于重复控制的静压轴承-主轴系统非圆轴心轨迹成型技术研究

doi:10.3901/JME.2023.09.274

机械工程学报 ›› 2023, Vol. 59 ›› Issue (9): 274-284.doi: 10.3901/JME.2023.09.274

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基于重复控制的静压轴承-主轴系统非圆轴心轨迹成型技术研究

向绍通^1,2, 潘伟^1,2, 张艺馨^1,2, 陈淑江^1,2, 路长厚^1,2

1. 山东大学机械工程学院济南 250061;
2. 山东大学高效洁净机械制造教育部重点实验室济南 250061

收稿日期:2022-05-11 修回日期:2022-12-14 出版日期:2023-05-05 发布日期:2023-07-19
通讯作者: 潘伟(通信作者),男,1976年出生,博士,副教授,硕士研究生导师。主要研究方向为流体润滑技术和最优控制技术。E-mail:panw@sdu.edu.cn E-mail:panw@sdu.edu.cn
作者简介:向绍通,男,1999年出生。主要研究方向为静压轴承主动控制技术。E-mail:xst6325@163.com
基金资助:
国家自然科学基金(51975337)和山东省自然科学基金(ZR2019MEE064)资助项目。

Research on Non-circular Journal Orbit Forming Technology of Hydrostatic Bearing-spindle System Based on Repetitive Control

XIANG Shaotong^1,2, PAN Wei^1,2, ZHANG Yixin^1,2, CHEN Shujiang^1,2, LU Changhou^1,2

1. School of Mechanical Engineering, Shandong University, Jinan 250061;
2. Key Laboratory of High-efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan 250061

Received:2022-05-11 Revised:2022-12-14 Online:2023-05-05 Published:2023-07-19

摘要/Abstract

摘要： 非圆轴心轨迹成型技术可用于异形曲面加工等特殊用途。为提高非圆轴心轨迹的成型精度,提出了可控静压轴承主轴系统的重复控制方法。可控静压轴承主轴系统是一个多变量耦合系统,模型复杂。为了便于控制器的设计,对系统原有线性参变模型进行了简化,建立了线性解耦模型。根据非圆轴心轨迹成型的特点,将重复控制器引入原PI控制系统,并根据稳定性准则,设计了重复控制器各参数,同时,为保证系统对非圆轨迹的跟踪精度,分析了增益参数对系统稳定性和性能之间的影响。最后建立了可控静压轴承主轴仿真与实验系统,并将重复控制与传统PI控制策略进行了对比。结果表明,该重复控制系统具有较强的鲁棒性且稳态误差更小,控制精度相较于PI控制系统有显著的提升。

关键词: 重复控制, 非圆轴心轨迹, 静压轴承

Abstract: The non-circular journal orbit forming technology can be used for special applications such as shaped surface processing. In order to improve the forming accuracy of non-circular journal orbit, a repetitive control method of controllable hydrostatic bearing spindle system is proposed. The controllable hydrostatic bearing spindle system is a multivariable coupled system with a complex model. In order to facilitate the design of the controller, the original linear parametric model of the system is simplified and a linear decoupling model is established. According to the characteristics of non-circular journal orbit forming, the repetitive controller is introduced into the original PI control system, and each parameter of the repetitive controller is designed according to the stability criterion. Meanwhile, to ensure the tracking accuracy of the system for non-circular trajectory, the influence between the gain parameters on the stability and performance of the system is analyzed. Finally, a controlled hydrostatic bearing spindle simulation and experiment system is established, and the repetitive control is compared with the traditional PI control strategy. The results show that the repetitive control system has stronger robustness and smaller steady-state error, meanwhile, the control accuracy is significantly improved compared with the PI control system.

Key words: repetitive control, non-circular journal orbit, hydrostatic bearing

中图分类号:

TH137

向绍通, 潘伟, 张艺馨, 陈淑江, 路长厚. 基于重复控制的静压轴承-主轴系统非圆轴心轨迹成型技术研究[J]. 机械工程学报, 2023, 59(9): 274-284.

XIANG Shaotong, PAN Wei, ZHANG Yixin, CHEN Shujiang, LU Changhou. Research on Non-circular Journal Orbit Forming Technology of Hydrostatic Bearing-spindle System Based on Repetitive Control[J]. Journal of Mechanical Engineering, 2023, 59(9): 274-284.

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基于重复控制的静压轴承-主轴系统非圆轴心轨迹成型技术研究

Research on Non-circular Journal Orbit Forming Technology of Hydrostatic Bearing-spindle System Based on Repetitive Control

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