直线电机XY工作台运动控制系统研究

发布时间：2018-04-04 03:18

本文选题：直线电机　切入点：轮廓误差　出处：《昆明理工大学》2017年硕士论文

【摘要】：XY工作台是数控机床中的重要组成部分,被广泛运用于加工制造业,XY工作台性能的好坏直接影响到数控机床的性能。本文研究的对象是基于直线电机驱动的XY工作台。相较于传统的由旋转电机加滚珠丝杆组成的直线进给系统驱动的XY工作台,由直线电机驱动的新型XY工作台具有更高的进给速度和加工精度,因此越来越被广泛运用于高速度高精度的场合。轮廓加工精度是衡量XY工作台性能的重要指标。而插补精度和伺服控制系统的控制精度又是直接影响XY工作台轮廓加工精度的关键因素。因此建立先进的插补算法和伺服控制系统,有效抑制直线电机XY工作台运行过程中的各种干扰因素是提升XY工作台加工精度的重要途径和手段。本文首介绍了直线电机技术以及由直线电机驱动的XY工作台国内外的发展现状,并阐述了 XY工作台轮廓控制常用的控制策略。其次本文通过对直线电机结构和工作原理进行了分析,利用坐标变换的原理建立了永磁同步直线电机数学模型。分析XY工作台轮廓误差产生原因,建立轮廓误差模型。然后对传统插补算法进行了改进,并根据现代数控机床XY工作台的精度要求以及直线电机进给系统加工过程中所受到的扰动,设计了基于PDFF控制算法和重复控制算法的直线电机XY工作台的单轴伺服控制系统,以减小XY工作台的单轴跟踪误差。然后在XY工作台单轴伺服控制系统的基础上,设计双轴交叉耦合伺服控制系统。通过实时的轮廓误差估计,对X轴和Y轴进行实时的补偿,从而实现对工作台轮廓误差的实时控制。随后运用MATLAB/Simulink对所设计的XY伺服控制系统进行仿真实验。仿真结果表明,通过对工作台单轴伺服控制系统采用PDFF控制器加重复控制器的设计能有效抑制直线电机自身产生的周期性扰动,提高单轴伺服控制系统的跟踪精度。通过对工作台的双轴伺服控制系统进行交叉耦合控制算法,解决工作台双轴之间动态参数不匹配的问题,提升XY工作台的轮廓加工精度。最后本文基于DSP芯片搭建了直线电机XY工作台伺服控制系统的硬件系统。
[Abstract]:XY worktable is an important part of NC machine tools, which is widely used in manufacturing industry. The performance of XY worktable directly affects the performance of NC machine tools.The object of this paper is the XY worktable driven by linear motor.Compared with the traditional XY table driven by the linear feed system composed of rotating motor and ball wire rod, the new type XY table driven by linear motor has higher feed speed and machining accuracy.Therefore, it is more and more widely used in high speed and high precision occasions.Contour machining accuracy is an important index to evaluate the performance of XY worktable.The interpolation accuracy and the control precision of servo control system are the key factors that directly affect the machining accuracy of XY worktable profile.Therefore, the establishment of advanced interpolation algorithm and servo control system to effectively suppress all kinds of interference factors in the running process of the XY table of linear motor is an important way and means to improve the machining accuracy of the XY table.This paper first introduces the technology of linear motor and the development status of XY worktable driven by linear motor at home and abroad, and expounds the common control strategy of profile control of XY worktable.Secondly, by analyzing the structure and working principle of linear motor, the mathematical model of permanent magnet synchronous linear motor is established by using the principle of coordinate transformation.The cause of contour error of XY worktable is analyzed, and the contour error model is established.Then the traditional interpolation algorithm is improved, and according to the precision requirement of the XY table of the modern NC machine tool and the disturbance in the machining process of the linear motor feed system,The single-axis servo control system of the XY worktable of linear motor based on PDFF control algorithm and repetitive control algorithm is designed in order to reduce the single-axis tracking error of XY worktable.Then, based on the single axis servo control system of XY worktable, a two-axis cross-coupling servo control system is designed.Through real-time contour error estimation, the X axis and Y axis are compensated in real time, thus the real-time control of the contour error of the worktable is realized.Then the XY servo control system is simulated by MATLAB/Simulink.The simulation results show that the PDFF controller and repetitive controller can effectively suppress the periodic disturbance generated by the linear motor and improve the tracking accuracy of the single-axis servo control system.The cross-coupling control algorithm is applied to the two-axis servo control system of the worktable to solve the problem of dynamic parameter mismatch between the two axes of the worktable and to improve the contour machining accuracy of the XY worktable.Finally, the hardware system of the servo control system of linear motor XY worktable is built based on DSP chip.
【学位授予单位】：昆明理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG659

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