本文選題：直線(xiàn)電機(jī)　切入點(diǎn)：輪廓誤差　出處：《昆明理工大學(xué)》2017年碩士論文

【摘要】：XY工作臺(tái)是數(shù)控機(jī)床中的重要組成部分,被廣泛運(yùn)用于加工制造業(yè),XY工作臺(tái)性能的好壞直接影響到數(shù)控機(jī)床的性能。本文研究的對(duì)象是基于直線(xiàn)電機(jī)驅(qū)動(dòng)的XY工作臺(tái)。相較于傳統(tǒng)的由旋轉(zhuǎn)電機(jī)加滾珠絲桿組成的直線(xiàn)進(jìn)給系統(tǒng)驅(qū)動(dòng)的XY工作臺(tái),由直線(xiàn)電機(jī)驅(qū)動(dòng)的新型XY工作臺(tái)具有更高的進(jìn)給速度和加工精度,因此越來(lái)越被廣泛運(yùn)用于高速度高精度的場(chǎng)合。輪廓加工精度是衡量XY工作臺(tái)性能的重要指標(biāo)。而插補(bǔ)精度和伺服控制系統(tǒng)的控制精度又是直接影響XY工作臺(tái)輪廓加工精度的關(guān)鍵因素。因此建立先進(jìn)的插補(bǔ)算法和伺服控制系統(tǒng),有效抑制直線(xiàn)電機(jī)XY工作臺(tái)運(yùn)行過(guò)程中的各種干擾因素是提升XY工作臺(tái)加工精度的重要途徑和手段。本文首介紹了直線(xiàn)電機(jī)技術(shù)以及由直線(xiàn)電機(jī)驅(qū)動(dòng)的XY工作臺(tái)國(guó)內(nèi)外的發(fā)展現(xiàn)狀,并闡述了 XY工作臺(tái)輪廓控制常用的控制策略。其次本文通過(guò)對(duì)直線(xiàn)電機(jī)結(jié)構(gòu)和工作原理進(jìn)行了分析,利用坐標(biāo)變換的原理建立了永磁同步直線(xiàn)電機(jī)數(shù)學(xué)模型。分析XY工作臺(tái)輪廓誤差產(chǎn)生原因,建立輪廓誤差模型。然后對(duì)傳統(tǒng)插補(bǔ)算法進(jìn)行了改進(jìn),并根據(jù)現(xiàn)代數(shù)控機(jī)床XY工作臺(tái)的精度要求以及直線(xiàn)電機(jī)進(jìn)給系統(tǒng)加工過(guò)程中所受到的擾動(dòng),設(shè)計(jì)了基于PDFF控制算法和重復(fù)控制算法的直線(xiàn)電機(jī)XY工作臺(tái)的單軸伺服控制系統(tǒng),以減小XY工作臺(tái)的單軸跟蹤誤差。然后在XY工作臺(tái)單軸伺服控制系統(tǒng)的基礎(chǔ)上,設(shè)計(jì)雙軸交叉耦合伺服控制系統(tǒng)。通過(guò)實(shí)時(shí)的輪廓誤差估計(jì),對(duì)X軸和Y軸進(jìn)行實(shí)時(shí)的補(bǔ)償,從而實(shí)現(xiàn)對(duì)工作臺(tái)輪廓誤差的實(shí)時(shí)控制。隨后運(yùn)用MATLAB/Simulink對(duì)所設(shè)計(jì)的XY伺服控制系統(tǒng)進(jìn)行仿真實(shí)驗(yàn)。仿真結(jié)果表明,通過(guò)對(duì)工作臺(tái)單軸伺服控制系統(tǒng)采用PDFF控制器加重復(fù)控制器的設(shè)計(jì)能有效抑制直線(xiàn)電機(jī)自身產(chǎn)生的周期性擾動(dòng),提高單軸伺服控制系統(tǒng)的跟蹤精度。通過(guò)對(duì)工作臺(tái)的雙軸伺服控制系統(tǒng)進(jìn)行交叉耦合控制算法,解決工作臺(tái)雙軸之間動(dòng)態(tài)參數(shù)不匹配的問(wèn)題,提升XY工作臺(tái)的輪廓加工精度。最后本文基于DSP芯片搭建了直線(xiàn)電機(jī)XY工作臺(tái)伺服控制系統(tǒng)的硬件系統(tǒng)。
[Abstract]:XY worktable is an important part of NC machine tools, which is widely used in manufacturing industry. The performance of XY worktable directly affects the performance of NC machine tools.The object of this paper is the XY worktable driven by linear motor.Compared with the traditional XY table driven by the linear feed system composed of rotating motor and ball wire rod, the new type XY table driven by linear motor has higher feed speed and machining accuracy.Therefore, it is more and more widely used in high speed and high precision occasions.Contour machining accuracy is an important index to evaluate the performance of XY worktable.The interpolation accuracy and the control precision of servo control system are the key factors that directly affect the machining accuracy of XY worktable profile.Therefore, the establishment of advanced interpolation algorithm and servo control system to effectively suppress all kinds of interference factors in the running process of the XY table of linear motor is an important way and means to improve the machining accuracy of the XY table.This paper first introduces the technology of linear motor and the development status of XY worktable driven by linear motor at home and abroad, and expounds the common control strategy of profile control of XY worktable.Secondly, by analyzing the structure and working principle of linear motor, the mathematical model of permanent magnet synchronous linear motor is established by using the principle of coordinate transformation.The cause of contour error of XY worktable is analyzed, and the contour error model is established.Then the traditional interpolation algorithm is improved, and according to the precision requirement of the XY table of the modern NC machine tool and the disturbance in the machining process of the linear motor feed system,The single-axis servo control system of the XY worktable of linear motor based on PDFF control algorithm and repetitive control algorithm is designed in order to reduce the single-axis tracking error of XY worktable.Then, based on the single axis servo control system of XY worktable, a two-axis cross-coupling servo control system is designed.Through real-time contour error estimation, the X axis and Y axis are compensated in real time, thus the real-time control of the contour error of the worktable is realized.Then the XY servo control system is simulated by MATLAB/Simulink.The simulation results show that the PDFF controller and repetitive controller can effectively suppress the periodic disturbance generated by the linear motor and improve the tracking accuracy of the single-axis servo control system.The cross-coupling control algorithm is applied to the two-axis servo control system of the worktable to solve the problem of dynamic parameter mismatch between the two axes of the worktable and to improve the contour machining accuracy of the XY worktable.Finally, the hardware system of the servo control system of linear motor XY worktable is built based on DSP chip.
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TG659

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