标题: 改善CNC工具机运动轮廓精度的控制器设计策略
The Controller Design Strategies in Improving Contouring Accuracy for CNC Machines
作者: 叶赐旭
Yeh, Shy-Shiuh
徐保罗
Pau-Lo Hsu
电控工程研究所
关键字: 交叉耦合控制器;轮廓误差;前置控制器;追迹误差;cross coupling controller;contouring error;feedforward controller;tracking error
公开日期: 1995
摘要: 传统工具机的运动控制方式,是使用各轴独立控制并减少各轴所造成
的 位置误差 ( Position Error ),但是此法却不能有效减少因各轴
动态特性不一 致或外界负载干扰所引起的轮廓误差 ( Contouring Error
)。有鉴于此,交叉 耦合控制器 (CCC) 架构被提出,藉着补偿器所产生
的补偿讯号,协调各轴 而茹除两轴以上的综合轴廓误差。本文则在
CCC 的架构下,提出轮廓误差 转移函数的稳健设计方式,以简化补
偿器的设计过程,并提供系统良好的轮 廓误差响应。
另一方面,为使系统能有良好的追迹控制,本文藉由最佳前置控制器设
计,近似地抵销位置回授控制系统的落后相位,同时提供系统良好的增益
响 应。此外,为降低位置回授控制系统的参数变化以及外界扰动的影
响,本文 使用适应控制方式实现前置控制器。
在本文的最后将讨论含有前置控制器与交叉耦合控制器的整合型伺服
马达位置控制系统,并且由实验结果得知,本文所提出的控制方法在与传
统 的位置控制结构相比较下,确实有较好的轮廓加工精度。
Traditionally, the CNC machines control the servo system of
each axis independently to reduce the position error.
However, they can not effectively eliminate contouring
errors caused by mismatch of system model and external
disturbance. To improve the contouring error, the Cross Couple
Control (CCC) structure which can effectively reduce the
contouring error by generating compensational signals
to each axis have been proposed.
Moreover, for improving tracking performance, we present a
optimal method to compensate the phase lag as well as
provide better gain response of the position feedback
control system by a feedforward controller. To reduce the
influence of external disturbance and parameter variations
to the performance of position feedback control system,
the feedforward controller is implemented by an adaptive
algorithm.
Finally, the servo motor position control system integrate both
the CCC and feedforward controller in our servo motor
position control system. Furthermore, theoretical results
indicate that the proposed integrated controller can be designed
independently. Experimental results show that both the
contouring and tracking errors in motion control have been
successfully suppressed by applying the integrated
controller.
URI: http://140.113.39.130/cdrfb3/record/nctu/#NT840327024
http://hdl.handle.net/11536/60279
显示于类别:Thesis