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- 2018
数控机床高速高加速进给下的跟随误差控制策略
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Abstract:
针对数控机床在高速加工中,各进给轴的进给速度和进给加速度高、跟随误差难以控制、零件加工精度无法保证的问题,提出一种模态滤波器与零相差跟踪控制器的综合控制策略。首先通过零极点对消的原理,得到设置在速度环内的模态滤波器,对滚珠丝杠进给系统的一阶和二阶扭转振动模态进行抵消,消除这两阶模态对伺服带宽的限制以继续提高伺服带宽;然后通过对整个伺服进给系统的传递函数近似取逆,得到设置在位置环之前的零相差跟踪控制器,改善伺服进给系统的相位滞后,最终实现数控机床高速高加速进给下的跟随误差控制。仿真结果表明,当进给速度为30 m/min、加速度为10 m/s2时,与传统的PID控制策略相比,所提出的综合控制策略将跟随误差降低到原来的0.1％以下。
A comprehensive control strategy that integrates modal filter controller and zero phase tracking controller is proposed to solve the problem that when numerical control (NC) machine tools work at high speed with high feeding speed and acceleration of each axis, it is difficult to control the tracking error and guarantee machining accuracy. The principle of zero pole cancellation is firstly used to obtain a mode filter controller set in the velocity loop, which cancels the first？？and second？？order torsional vibration modes of the ball？？screw feed system, removes the limitations of the two modes on the servo bandwidth and continuously increase the servo bandwidth. Then, the zero phase tracking controller set before the position loop is obtained and the phase lag of the servo feed system is improved by approximating the inverse of the transfer function of the whole servo feed system. Finally, the control of tracking errors of NC machine tools at high speed and acceleration feeding is realized. Simulation results and a comparison with the traditional PID control strategy show that when the feed speed is 30 m/min and the acceleration is 10 m/s2, the proposed integrated control strategy reduces the tracking error to less than 0.1％ of the original one
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