摘要
提出了一种基于模糊自整定PID的同步控制方案。设计模糊自整定PID控制器应用在龙门移动式镗铣床中双电动机驱动的轴间反馈回路,以抑制由不同步引起的不平衡扭矩。并且由IP控制器和前馈控制器构成复合位置控制器来满足位置系统跟踪性能的要求。仿真结果表明,此种同步控制策略响应速度快、鲁棒性强,能够满足高精度同步控制的要求。
The synchronization control is the important technique in the gantry - moving type milling machine, and a synchronization control scheme based on fuzzy self- adjusting PID is proposed in this paper. To limit the torque that caused by the asynchronization, a fuzzy self- adjusting PID controller is designed and placed in feedback circle of axes driven by dual servo motors. And a compound position controller, which composed of IP controller and feed - forward controller, is used to meet the required tracking performance. The simulation results show that the proposed scheme has both rapid response and strong robustness, and the demand for the high precision synchronization control can be satisfied.
出处
《制造技术与机床》
CSCD
北大核心
2009年第2期72-74,78,共4页
Manufacturing Technology & Machine Tool
基金
沈阳科学技术计划项目(1071201-1-00)
关键词
永磁直线同步电动机
同步控制
模糊自整定PID
龙门移动式镗铣床
Permanent Magnetic Linear Synchronous Motor
Synchronization Control
Fuzzy Self - adjusting PID
Compound Position Controller
