直线伺服双位置环动态同步进给的模型参考自适应控制
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摘要
本文以国家自然科学基金资助项目《直线伺服双位置环动态精密同步进给理论和实现方法研究(No．50075057)》为背景，针对直线同步进给提出了一种新的控制方案：模型参考自适应控制。
机床采用永磁直线同步电动机直接驱动，省掉了中间的传动环节，消除了机械传动链的影响；又因永磁直线同步电动机采用高能永磁体，具有电磁推力强度高、损耗低、电气时间常数小、响应快等特点。因此，本文提出了在龙门移动式镗铣床同步传动的驱动元件中采用永磁直线同步电机，以发挥其高速的动态响应能力，快速实现同步。
本文提出将解耦控制方法应用于龙门移动式镗铣床的同步传动中。两套伺服系统输出通过机械方式耦合在一起，按同一速度给定信号运动，并无电气参数上的直接耦合关系。由于作用在两台电机上的负载不可能严格相同，所以当两台电机上的负载处于动态变化过程时，便引起了电机速度发生变化，从而引起位置不同步。为了使伺服系统回到同步状态，需要把机械位置的不同步转化为电气控制变量的变化，通过对控制变量的解耦，使其恢复到同步状态。
本文首次提出把一种模型参考自适应控制方案应用于同步传动中。针对龙门移动式镗铣加工中心伺服系统，为了克服因两个龙门立柱运动状态差异形成的机械耦合对双电机系统的影响，本文采用自适应解耦控制技术，先通过前馈解耦，再经过自适应律产生的反馈作用来修改双直线电机控制器的参数，产生同步控制量，使双电机在位置上保持一致，从而实现了双电机的同步传动。
仿真实验表明，本文所提出的控制方案具有速度快，鲁棒性强，同步误差小的优点，对于提高数控机床的同步精度具有重大意义。
A kind of new control tactics: Decoupling control and Model reference adaptive control (MRAC) is proposed in this paper. The paper is the project named "Theory of Dynamic Precision synchronization Traverse and Research of Realization Methods for Linear Servo Dual Position Loops System (No-50075057)" as the background, which is supported by National Natural Science Foundation of China
Drive directly by linear permanent magnet synchronous AC motor, the controlled plant eliminates middle drive parts and avoids the effects of the mechanical transmission chains from rotary motions to linear ones. And LPMSM using high energy permanent magnet has strong electromagnetism thrust, lower cost, small electrical time constant and rapid response etc. Using linear permanent magnet synchronous AC motors as driving parts in gantry-moving type milling machine is first proposed in this paper, to bring their high-speed dynamic response ability into play for further realizing rapid synchronism.
Decoupling control method is applied to the gantry-moving type milling machine synchrodrive in this paper. Two servo system outputs are coupled by mechanism framework. They are traversed as same speed instruction and have no direct-coupled connection on electrical parameters. As payload disturbances acting on the two motors can't be noncoincidental, the motor speeds change with the payloads of two motors, and cause position asynchronies. In order to return to the synchronous state, through changing the mechanism position asynchronies into electrical control variables. It is resumed synchronous state by control variable decoupling.
A new adaptive control technology is first proposed in this paper and applied to the synchrodrive. For Gantry-moving type machining center servo system, in order to restrain the machine coupling influencing dual motors system, an adaptive decoupling control technology is first presented in this paper, and through feedforward decoupling; the dual linear motors controller's parameters will be modified by the feedback. The synchronous control caused by
the feedback resulting from the adaptive control law will keep synchronism with dual motors in position for realized synchrodrive.
The results of simulations indicate that the proposed schemes have the advantages of rapid response, strong robustness, and low synchronous error. It means a lot for improving the synchronization precision of automatic control machine tool.
机床采用永磁直线同步电动机直接驱动，省掉了中间的传动环节，消除了机械传动链的影响；又因永磁直线同步电动机采用高能永磁体，具有电磁推力强度高、损耗低、电气时间常数小、响应快等特点。因此，本文提出了在龙门移动式镗铣床同步传动的驱动元件中采用永磁直线同步电机，以发挥其高速的动态响应能力，快速实现同步。
本文提出将解耦控制方法应用于龙门移动式镗铣床的同步传动中。两套伺服系统输出通过机械方式耦合在一起，按同一速度给定信号运动，并无电气参数上的直接耦合关系。由于作用在两台电机上的负载不可能严格相同，所以当两台电机上的负载处于动态变化过程时，便引起了电机速度发生变化，从而引起位置不同步。为了使伺服系统回到同步状态，需要把机械位置的不同步转化为电气控制变量的变化，通过对控制变量的解耦，使其恢复到同步状态。
本文首次提出把一种模型参考自适应控制方案应用于同步传动中。针对龙门移动式镗铣加工中心伺服系统，为了克服因两个龙门立柱运动状态差异形成的机械耦合对双电机系统的影响，本文采用自适应解耦控制技术，先通过前馈解耦，再经过自适应律产生的反馈作用来修改双直线电机控制器的参数，产生同步控制量，使双电机在位置上保持一致，从而实现了双电机的同步传动。
仿真实验表明，本文所提出的控制方案具有速度快，鲁棒性强，同步误差小的优点，对于提高数控机床的同步精度具有重大意义。
A kind of new control tactics: Decoupling control and Model reference adaptive control (MRAC) is proposed in this paper. The paper is the project named "Theory of Dynamic Precision synchronization Traverse and Research of Realization Methods for Linear Servo Dual Position Loops System (No-50075057)" as the background, which is supported by National Natural Science Foundation of China
Drive directly by linear permanent magnet synchronous AC motor, the controlled plant eliminates middle drive parts and avoids the effects of the mechanical transmission chains from rotary motions to linear ones. And LPMSM using high energy permanent magnet has strong electromagnetism thrust, lower cost, small electrical time constant and rapid response etc. Using linear permanent magnet synchronous AC motors as driving parts in gantry-moving type milling machine is first proposed in this paper, to bring their high-speed dynamic response ability into play for further realizing rapid synchronism.
Decoupling control method is applied to the gantry-moving type milling machine synchrodrive in this paper. Two servo system outputs are coupled by mechanism framework. They are traversed as same speed instruction and have no direct-coupled connection on electrical parameters. As payload disturbances acting on the two motors can't be noncoincidental, the motor speeds change with the payloads of two motors, and cause position asynchronies. In order to return to the synchronous state, through changing the mechanism position asynchronies into electrical control variables. It is resumed synchronous state by control variable decoupling.
A new adaptive control technology is first proposed in this paper and applied to the synchrodrive. For Gantry-moving type machining center servo system, in order to restrain the machine coupling influencing dual motors system, an adaptive decoupling control technology is first presented in this paper, and through feedforward decoupling; the dual linear motors controller's parameters will be modified by the feedback. The synchronous control caused by
the feedback resulting from the adaptive control law will keep synchronism with dual motors in position for realized synchrodrive.
The results of simulations indicate that the proposed schemes have the advantages of rapid response, strong robustness, and low synchronous error. It means a lot for improving the synchronization precision of automatic control machine tool.
引文
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[3] 贺振明．高速铣削在模具制造中的应用．机电一体化，1998，(4)
[4] 魏志强，王先逵，杨志刚．高速加工机床及其关键技术．制造技术与机床，1998，(1)
[5] 海锦涛，张立斌等．先进制造技术．北京：机械工业出版社，1996
[6] Hemati N. A Complete Model Characterization ofBrushless Operation.IEEE Trans. On Indu. Appl. 1992,28(4) pp 172-180
[7] 赵春雨，朱洪涛，闻邦椿．多机传动系统的同步控制．控制理论与应用，1999，16(2)：179～183
[8] 高文章主编．数控机床主机共性关键技术．北京：机械工业部，1995
[9] Butler J, Tomizuka M. Trajectory Planning for High Speed Multiple Axis Contouring Systems. Proceeding of the 1989 American Control Conference, Pittsburgh, PA1989: 87～97
[10] Koren Y. Cross-coupled Biaxial Computer Control for Manufacturing System. ASME Journal of dynamic systems, measurement and control, 1980,102(12): 256～272
[11] Kulkami P,Srinivasaa K. Cross-coupled compensators for Contouring Control of Multiaxial Machine Tools. In Proceedings of the 13th North American Manufacturing Research Conference, 1985: 558～566
[12] Guo Qingding, Luo Ruifu ang Wang Limei. Robust Fuzzy Variable Structure Control of PMLSM Servo System. Proc. of ICIPS'97
[13] Luo Reifu Wang Limei and Guo Qingding. Direct Neural Network Adaptive Observer Control for PMSM. Proc. of ICIPS'97
[14] 付兴武，赵克定，刘庆和．双马达同步驱动系统自适应神经元网络控制．哈尔滨工业大学学报，1999，31(5)：111～113
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[21] 中国机床工业协会1994赴美、日考察工作组．直线伺服电机传动和高速加工．制造技术与机床．1995．9
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[23] 孙文焕，程善美，王晓翔，秦忆．多电机协调控制的发展．电气传动，1999,29(6)：3～6
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[25] 唐任远主编．特种电机．北京：机械工业出版社，1998
[26] 刘明灯，陆启键．直线电机与DSP高速运动控制器的应用．中国机电工程，1999，10
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[28] Masayuki Sanada, Shigeo Morimoto,Yoji Takeda, "Interior Permanent Magnet Linear Synchronous Motor for High-Performance Drives", IEEE Trans. on Industry Applications, 1997, VOL.33,NO.4, PP.996-972
[29] 马平．高速数控机床直线进给单元的实验研究．机电工程．1999，16(1)：27～28．
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