| 摘要: |
| 计算机化数控机床CNC在制造业中是一种高度集成的机电一体化系统.然而,不确定因素却降低了它运动的准确性.为了估计系数变化和电流测量问题中的不确定性,针对速度和电流循环,提出了一种线性状态空间扰动观测器,通过对数控机床和伺服电机的建模,不断改变影响准确性的各项参数,同时应用自动调优程序对电动机多样性系数进行识别,实验结果表明:由于线性误差,外部扰动等不确定因素所造成的对于速度与电流的影响得到显著改善,并最终实现了对于转矩振动的抑制. |
| 关键词: CNC 伺服电机 线性状态空间扰动观测器 自动调优 |
| DOI： |
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| Precision control and compensation of machine tools and servomotor via disturbance observer |
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KANG Qi, LIN Jun
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College of Information,Mechanical and Electrical,Shanghai Normal University
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| Abstract: |
| The computerized numerically-controlled machine tool CNC is a highly integrated mechatronic system in manufacturing. However, uncertainties degrade its motion accuracy. In order to estimate the uncertainties of the parameter variation and current measurement , in this paper, a state-space disturbance observer is successfully applied to servomotors in the velocity and the current loops. Via the modeling of CNC machine tool and servo motor, the parameters affecting the accuracy are continuously variated and an auto tuning procedure is applied to identify the varied parameters of the motor. The experimental results show that the influences on the velocity and current caused by the linear errors ,external disturbance and etc have improved significantly, and eventually the effect of suppressing the torque ripple is achieved . |
| Key words: CNC servomotor state space disturbance observer autotuning |
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