虚拟轴数控机床基于解耦驱动的补偿器设计

摘要

用直线电机驱动虚拟轴机床，可满足高速时动态响应和提高精度的要求.虚拟轴机床的伺服驱动由于强耦合的影响，一直是控制理论和实现技术方面的一个难题.提出了一种新颖的精确定位控制策略，在一轴或多轴控制失效情况下，此控制策略可实现持续动态定位.通过在线重新设置解耦矩阵，能保证在一个或几个驱动器失效时，闭合回路仍能继续正常工作.又在解耦控制的基础上设计了干扰补偿器，仿真结果表明，此控制策略可有效抑制各种扰动，大大改善速度响应特性.%In high-speed machine translation mechanism, linear motors are widely adopted. Using linear motors to actuate virtual-axis machine tool can meet the requirements of high performance. To control virtual-axis machine is a difficult problem in control theory area. This paper presents a new precision pointing strategy. The strategy can realize active pointing despite multiple failures. By reconfiguring the decoupling matrix, closed-lool system operation can be maintained should one or several actuators fail. The simuation shows that velocity response performance is improved greatly.