电磁驱快速刀具伺服闭环系统DOB补偿增益PID阻尼控制器设计

Design of DOB compensation gain PID damping controller for electromagnetic drive fast tool servo closed-loop system

  • 摘要: 为了弥补快速刀具伺服(fast tool servo,FTS)系统驱动不足的问题,开发了一种电磁驱动直接数字式频率合成器(direct digital synthesizer,DDS)系统来实现高带宽轨迹的跟踪控制方法。利用静态增益实现参数前馈补偿,通过线性控制建立扰动观测器(disturbance observer,DOB)补偿前馈增益处理。开展实验测试分析,从控制器中采集控制指令,实现对FTS励磁线圈的驱动作用,完成输出位移控制。研究结果表明:采用PAVPF控制器时对谐振峰起到了明显抑制,发挥理想减振作用。通过阻尼控制保持稳定裕度恒定,再通过更高增益PID控制器对系统实施控制,实现系统闭环带宽的显著增加。PAVPF阻尼达到了±2 μm误差;提高DOB增益后系统最大跟踪误差降低值接近±0.16 μm。该研究具有很好的控制精度,为高精度刀具控制起到理论支撑作用。

     

    Abstract: In order to make up for the driving shortage of fast tool servo (FTS) system, an electromagnetic driven DDS system was developed to realize the tracking control method of high bandwidth trajectory. The feedforward compensation of parameters is realized by using static gain, and the disturbance observer (DOB) is established by linear control to compensate the feedforward gain processing. The experimental test and analysis were carried out to collect control instructions from the controller to realize the driving effect on FTS excitation coils and complete the output displacement control. The results show that the resonant peak can be suppressed obviously when using PAVPF controller. The damping control keeps the stability margin constant, and then the higher gain PID controller controls the system to achieve a significant increase in the closed-loop bandwidth of the system. PAVPF damping reaches ±2 μm error; After increasing the DOB gain, the maximum error reduction of the system is close to ±0.16 μm. The research has a good control precision, which plays a theoretical supporting role for high precision tool control.

     

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