摘要
对永磁直线同步伺服电机(PMLSM)驱动的6自由度虚拟轴机床提出H∞鲁棒控制的新方法.将负载扰动和各杆间耦合扰动的抑制问题归结为标准的H∞控制问题;基于Riccati不等式的处理方法,通过求Riccati不等式的对称正定解得到H∞控制器,以保证系统的鲁棒性.仿真实验结果表明,用该方法设计的虚拟轴机床控制系统具有良好的抑制扰动和跟踪给定的效果,从而保证机床运动协调、姿态合理.
This paper presented a new control method on the basis of robust control theory for 6-dof virtual axis machine tool driven by permanent magnetic linear synchronous motor. The restraint problem of load disturbance and coupling disturbance among these links was converted into a standard H_∞ control problem. An H_∞ robust controller which can guarantee robustness of the system was obtained by solving the Riccati inequality with symmetric positive solution. Results of simulations indicate that the machine tool with H_∞ robust controller can not only guarantee a good restraint for disturbance as well as the tracks of input signal, but also satisfy control requirement of motion harmony and reasonable posture for linear servo virtual axis machine tool.
出处
《沈阳工业大学学报》
EI
CAS
2005年第3期280-283,共4页
Journal of Shenyang University of Technology
基金
辽宁省教育厅科学研究计划资助项目(2004D040)
