摘要
针对龙门加工中心中的移动横梁,提出了采用磁悬浮技术,实现无摩擦驱动的新型控制方案。根据所建立的横梁磁悬浮系统的数学模型,应用基于微分几何的反馈线性化方法将非线性的电磁悬浮系统转化为线性系统,然后利用积分滑模控制器来对整个系统进行鲁棒控制。仿真研究结果表明,与传统控制方法相比,系统具有很强的抗扰性和较高的刚度,横梁能够实现无摩擦稳定悬浮。
This paper adopts magnetic levitation technology for the moving crossbeam of the gantry NC machine tool in order to achieve non-friction control. Based on the mathematical model of the maglev system, the nonlinear model can be transferred into linear model by using feedback linearization method. Then the robustness of the entire system is implemented according to the integral sliding mode controller. The results of simulation show the system has powerful ability of suppressing disturbance and high rigidity which is superior to the traditional control method. The crossbeam can achieve steady levitation.
出处
《制造技术与机床》
CSCD
北大核心
2010年第2期54-57,共4页
Manufacturing Technology & Machine Tool
基金
国家自然科学基金项目(50805098)
关键词
磁悬浮系统
非线性控制
反馈线性化
滑模变结构
Magnetic Levitation System
Nonlinear Control
Feedback Linearization
Sliding Mode Variable Structure Control
