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Repeated sliding mode composite control method of voice coil motor driven Lorentz force type fts

A Lorentz force type, voice coil motor technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of slow change of characteristic parameters, poor dynamic response performance, chattering, etc.

Active Publication Date: 2022-03-01
SHENYANG POLYTECHNIC UNIV
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Problems solved by technology

Adaptive control, its algorithm can reduce or eliminate the slow change of characteristic parameters brought by the controlled object and the influence of external disturbance on the servo system, but adaptive control is very dependent on the controlled object, there are many unknown and uncertain factors, cannot Fully determine its mathematical model
Repeated control can solve the internal stability of the system, but it has output delay, poor dynamic response performance, and no good tracking
Sliding mode control has strong robustness, but chattering phenomenon will occur in the control process

Method used

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  • Repeated sliding mode composite control method of voice coil motor driven Lorentz force type fts
  • Repeated sliding mode composite control method of voice coil motor driven Lorentz force type fts
  • Repeated sliding mode composite control method of voice coil motor driven Lorentz force type fts

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[0530] The selected motor is a voice coil linear motor, and the specific parameters are: magnetic induction intensity B=484.40T, total coil length l=266mm, resistance R=3.6Ω, total mass of the voice coil linear motor mover m=280g, damping coefficient c= 0.045N·s·m -1 , spring constant k 1 =5720 N / m.

[0531] Agent-based sliding mode control parameters: k p =50,k i =0.03,k d =0.0019, V=1, β=0.00001.

[0532] Improved repetition control parameter: ω q =99rad / s, T=0.001,τ b =0.00093,k p1 =200,k d1 = 0.1.

[0533] The sampling time of this patent is 1ms, and the limit value of the saturation function is S L =±0.5.

[0534] When the input is given as x i =0.001sin(300πt)m, the input and output curves are as follows Figure 21 As shown, the curve in the figure reflects that the control algorithm involved above has good tracking performance, and the system output can well realize high-precision tracking of a given input signal. When the system runs to 0.03s, adding 5N...

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Abstract

A voice coil motor drives a Lorentz force type FTS repetitive sliding mode compound control method, which includes the following steps: (1), using the relationship between the input position, the proxy travel position and the output position to design the proxy travel sliding mode control law; (2) Design the PID controller using the relationship between the agent’s travel position and the output position, and obtain the output of the PID controller for the virtual connection; (3), according to the trajectory of the agent’s movement, obtain the “agent travel slip” in step (1). The algebraic relationship between the model control law" and the "virtually connected PID controller output" in step (2), and then the agent-based sliding mode controller output; improved repetitive control: using the system input to a given position The error between the signal and the output position is used as the input signal of the repetitive controller, which is embedded into the system to realize high-precision tracking and suppression of periodic signals and interference. According to the above control method, the steady-state tracking accuracy of the system can be improved.

Description

[0001] ·Technical field [0002] The invention belongs to the technical field of numerical control processing, and in particular relates to the research on the control strategy based on the combination of repeated sliding modes of the Lorentz force type fast tool servo system. Background technique [0003] In recent years, in the fields of power electronics, aerospace, military and other fields, the requirements for machining accuracy of parts are getting higher and higher, especially for non-axisymmetric and non-rotating optical free-form surface parts. The efficiency of traditional lathe processing is low, and the processing accuracy is difficult to meet the requirements of the product. In order to solve this problem, diamond ultra-precision turning is introduced. Its core technology lies in the fast tool servo system, which is a processing method to achieve high precision and high efficiency on the surface of the microstructure of the part, and also to compensate for the mo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘春芳徐燕孙宜标
Owner SHENYANG POLYTECHNIC UNIV
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