含前馈补偿和微分反馈的数控位置伺服系统

中国机械工程 ›› 2014, Vol. 25 ›› Issue (15): 2017-2023.

含前馈补偿和微分反馈的数控位置伺服系统

黄科元;周滔滔;黄守道;黄庆

湖南大学，长沙，410082

出版日期:2014-08-10 发布日期:2014-08-13
基金资助:
国家国际科技合作专项（2011DFA62240）；湖南省自然科学基金资助项目（11JJ3062）；湖南大学青年教师成长计划资助项目

CNC Position Servo System with Feedforward Compensation and Differential Feedback

Huang Keyuan;Zhou Taotao;Huang Shoudao;Huang Qing

Hunan University,Changsha,410082

Online:2014-08-10 Published:2014-08-13
Supported by:
International S&T Cooperation Program of China( No. 2011DFA62240);Hunan Provincial Natural Science Foundation of China（No. 11JJ3062）

摘要/Abstract

摘要：

数控位置伺服系统的前馈控制具有动态响应快、跟踪精度高、实用性高等特点，在位置跟踪数控伺服系统中应用广泛，但对数控伺服系统的位置阶跃响应作用不明显,且超调量大。为此，提出在位置前馈控制的基础上，引入位置环微分负反馈的新型控制策略。在伺服系统位置环增加微分负反馈后，对前馈控制函数进行修正，使微分负反馈控制既能保证系统实现无超调快速响应，又不影响位置前馈跟踪性能。仿真和实验结果验证了该方法的可行性和有效性，表明该新型控制方法适用范围广，响应速度快，超调量小，具有很高的工程实用价值。

关键词: 数控伺服系统, 前馈控制, 微分负反馈控制, 快速响应, 无超调

Abstract:

A feedforward control of CNC position servo system has many advantages as fast dynamic response, high tracking accuracy, practicality and so on, and it is widely used in CNC position servo system. However, it has large overshoot and it contributes little in the step position servo system. Therefore, a new control method was proposed that the differential negative feedback control was introduced on the basis of the servo system feedforward control herein. With adding the differential negative feedback,the feedforward control function was deduced again. So that the differential negative feedback could guarantee the little overshoot and rapid response, and had no bad effection in position tracking performance. The simulation and experimental results verify the feasibility and effectiveness of the analysis and the design. The new control method is applicable to a wide range with its merits of fast response and great practical value.

Key words: CNC position servo system, feedforward control, differential negative feedback control, rapid response, little overshoot

中图分类号:

TG659
TP275

黄科元, 周滔滔, 黄守道, 黄庆. 含前馈补偿和微分反馈的数控位置伺服系统[J]. 中国机械工程, 2014, 25(15): 2017-2023.

Huang Keyuan, Zhou Taotao, Huang Shoudao, Huang Qing. CNC Position Servo System with Feedforward Compensation and Differential Feedback[J]. China Mechanical Engineering, 2014, 25(15): 2017-2023.

参考文献

[1]赵希梅，郭庆鼎．为提高轮廓加工精度采用DOB和ZPETC的直线伺服鲁棒跟踪控制[J]．电工技术学报，2006，21（6）:111-114.
Zhao Ximei，Guo Qingding.Linear Servo Robust Tracking Control Based on DOB and ZPETC to Improve the Contour Machining Precision[J]. Transactions of China Electrotechnical Society, 2006，21（6）: 111-114.
[2]赵国勇，徐志祥，赵福令.高速高精度数控加工中NURBS曲线插补的研究[J].中国机械工程, 2006，17(3):291-294.
Zhao Guoyong, Xu Zhixiang, Zhao Fuling. Study on NURBS Curve Interpolator in the High Speed and High Accuracy CNC Machining[J]. China Mechanical Engineering, 2006，17(3):291-294.
[3]Comins P,Munro N.PID Control:Recent Tuning Methods and Design to Specification[J].IEEE Proceeding:Control Theory Application,2002, 149(1):46-53.
[4]张礼兵，游有鹏，吴婷.数控位置伺服系统控制策略研究[J].中国机械工程, 2012，23(14):291-294.
Zhang Libing, You Youpeng, Wu Ting. Research on Positioning Servo Control Strategies of a Computerized Numerical Control System[J]. China Mechanical Engineering, 2012，23(14):291-294.
[5]胡明慧，王永山，邵惠鹤. 基于粒子滤波前馈补偿的电机伺服系统控制[J]. 中国电机工程学报, 2007, 27(27): 99-103.
Hu Minghui, Wang Yongshan, Shao Huihe. Design of Feedforward Compensation for Motor Servo System Control Based on Particle Filter[J]. Proceedings of the CSEE，2007，27（27）: 99-103.
[6]李宏胜，孙权，张建华,等．基于前馈控制的数控机床进给运动轮廓误差分析[J]. 组合机床与自动化加工技术，2010(2): 9-15.
Li Hongsheng,Sun Quan,Zhang Jianhua,et al.Analysis to Contour Error of CNC Machine Tool Feed Motion Based on Feedforward Control[J].Modular Machine Tool & Automatic Manufacturing Technique，2010(2): 9-15.
[7]腾福林，胡育文，刘洋，等.位置/电流两环结构位置伺服系统的跟随性能[J].电工技术学报，2009, 24(10):40-46.
Teng Fulin, Hu Yuwen,Liu Yang.Tracking Performance of Position Servo System only with Position and Current Loops[J]. Transactions of China Electrotechnical Society，2009, 24(10):40-46.
[8]李庆雷,王先逵.永磁交流同步直线电机位置伺服控制系统设计[J].中国机械工程, 2001，12(5):577-581.
Li Qinglei, WangXiankui. Position Servo Control System Design for Permanent Magnet Linear Synchronous Motor[J]. China Mechanical Engineering, 2001，12(5):577-581.
[9]陈荣，邓智泉，严仰光.微分反馈控制在永磁伺服系统中的应用研究[J]．电工技术学报，2005，20(9): 92-97.
Chen Rong, Deng Zhiquan, Yan Yangguang. Application Research on Differential Feedback Control in Permanent Magnet Motor Servo System[J]. Transactions of China Electrotechnical Society, 2005，20(9): 92-97.
[10]李光泉,葛红娟,刘天翔.永磁同步电机调速系统的伪微分反馈控制[J]．电工技术学报，2010，25(8): 18-23.
Li Guangquan,Ge Hongjuan, Liu Tianxiang.Pseudo Derivative Feedback Control for PMSM Drive System[J]. Transactions of China Electrotechnical Society，2010，25(8): 18-23.
[11]Sant A V, Rajagopal K R.PM Synchronous Motor Speed Control Using Hybrid Fuzzy-PI with Novel Switching Functions[J]. IEEE Transactions on Magnetics，2009，45(10)：4672-4675.