直接驱动数控转台自适应二阶滑模控制.pdf

Design ond Research
计与研究
直接驱动数控转台自适应二阶涓模控制
孙宜标何新
(沈阳工业大学电气工程学院,辽宁氿阳110870
摘要:针对直接驱动数控转台用环形永磁力矩电动机易受负载扰动及自身参数变化影响的特点,设计了自
适应二阶滑模控制器。控制律采用自适应螺旋算法,二阶滑模将不连縷控制作用于变量的高阶微分
上,削弱了抖振现象。引入自适应控制是对螺旋算法中的控制増益进行动态调节,从而克服了控制
増益需要不确定性的界来确定的局限,进而提高了控制性能。仿真结果表阴该策赂具有较强的位置
定位能力,对负载扰动和参数变化等不确定性具有很强的鲁棒性,同时有效地削弱了抖振现象。
关键词:二阶滑模控制自适应控制环形永磁力矩电动机螺旋算法直接驱动
中图分类号;IM351文献标识码:A
Adaptive second order sliding mode control for direct drive NC rotary table
SUN Yibiao. HE Xin
( Electric Engineering School, Shenyang University of Technology, Shenyang 110870, CHN)
Abstract For the characteristics of the ring permanent magnet torque motor used in direct drive numerical contro
( NC)rotary table suffering from the effect of load disturbances and parameters variations, the adaptive
second order sliding mode controller is designed. Control law is achieved by adaptive twisting algorithm
The discontinuous control effects on the higher differential, and eliminate the chattering phenomenon
The introduction of the adaptive control is the control gain of he twisting control law with dynamic ad-
justment, thereby to overcome dependence of control gain required to determine the boundaries of the
uncertainty, and then improve the control performance. Simulation results show that the desigmed strate
gy enables servo system to have strong position location performance, and to have very strong robustness
against load dis u ances and parameters variations, simultancously attenuates chattering ffectively
Keywords: Second Order Sliding Mode Control Adaptive Contral; Ring Permanent Magnet Torque Motor; T wis
ting Algorithm; Direct Drive
近年来,随着现代工业的蓬勃发展,对数控机床的控转台在整个机床工业中的作用显得越来越重要。驱
精度要求也随之提高,而作为数控机床的主要部件,数动数控转台的传统方式通常是采用旋转伺服电动机加
度的两两交互作用,可确定出各因素的最佳水平范围。[4]宿远,李伟光,王勇,等:Box- Behnken响应曲自优化铁炭电解
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切削过程影响的研究[丁]金石与料席具工程,2013,33(2):
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木辽宁省自然科学基金项目(201133029)
2014年第1期