Research on LQG Control of Spindle Vibration Based on Voice Coil Motor Actuator

Abstract

Abstract: In order to overcome the serious shortcomings of vibration suppression effects while the passive dynamic vibration absorber deviated from its optimal state, for vibration control of spindle on low dynamic stiffness milling machine, an active control system of hybrid dynamic vibration absorber was designed. By taking the voice coil motor as the actuator, the displacements and velocities as feedback signals, the absorber suppressed spindle vibration by applying forces on cutting tool directly so as to suppress vibration of the spindle. Considering the drive characteristics of the voice coil motor, a dynamics model of cutter and spindle vibration of two degree of freedoms(DOFs) was established, the equations of system states were derived, and the vibration control model was simulated by using linear-quadratic-Gaussian(LQG) control methods. Finally, experiments were carried out in milling processes to control the spindle vibration in a CNC engraving and milling machine. Results show that the hybrid dynamic vibration absorber based on voice coil motor can effectively reduce spindle vibration by active LQG control. The vibration suppression effects based on velocity feedback are better than that based on displacement feedback. But the vibration velocity feedback can effectively reduce the resonance peak of high frequency, the system should real-time adjust active control parameters according to actual vibration feedback signals.

Key words: voice coil motor, dynamic vibration absorber, optimum control, cutting chatter

摘要： 为克服被动动力吸振器偏离最优状态时抑振效果严重降低的不足，针对动刚度较低的铣削加工机床的主轴振动控制，设计了一种混合动力吸振器的主动振动控制系统。该吸振器以音圈电机为作动器，以位移和速度作为状态反馈信号，直接对铣削刀具施加控制力，从而达到抑制主轴振动的目的。在分析音圈电机驱动特性的基础上，建立了两自由度的铣刀与主轴振动力学模型，推导出系统的状态方程，并采用线性二次高斯控制（LQG）最优控制方法对振动控制模型进行了仿真，最后在实际的数控雕铣机床上进行了相关的铣削主轴振动控制实验。结果表明，该方法能有效降低主轴切削振动，基于振动位移反馈的抑振效果优于基于振动速度反馈的抑振效果，但基于振动速度反馈能更有效地抑制高频的共振峰值，实际系统应根据振动反馈信号实时调整主动控制参数。

关键词: 音圈电机, 动力吸振器, 最优控制, 切削颤振

CLC Number:

TP273

Shi Zhongquan , Ye Wenhua . Research on LQG Control of Spindle Vibration Based on Voice Coil Motor Actuator[J]. China Mechanical Engineering.

史中权, , 叶文华. 基于音圈电机作动器的主轴振动LQG控制研究[J]. 中国机械工程.

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