高速进给的自适应滑模控制器设计

摘要

The development of CNC technique requires servo feed system with high bandwide and Robust. One adaptive sliding mode controllers have been designed. Notch filtering of the first resonant mode is also investigated as a practical alternative to active vibration control. Feedforward friction compensation has been added, to improve the contouring performance at circular arc quadrants and sharp corners. The proposed control techniques have been validated in simulations and high speed tracking and contouring experiments.%数控技术的发展要求伺服进给系统具有高带宽、强的扰动抑制能力和鲁棒性,以取得高精度的轨迹跟踪性能.设计了一种具有鲁棒性的自适应滑模控制器,利用一阶共振陷波滤波器抑制系统的共振,同时在控制环中加入摩擦前馈补偿,提高进给运动反向时的精度.最后通过实验和仿真比较了各种控制策略的优劣,验证了提出的带有摩擦力前馈补偿和陷波滤波器的滑模控制策略不仅可以获得高精度的加工轨迹,而且具有良好的抗干扰性和鲁棒性.