Research on Servo Control Technology of Ultra-precision Machine Tool Based on Disturbance Feedforward Compensation Wang Lisong Dong Shen Su Baoku Zhang Feihu Harbin Institute of Technology, the influence of various disturbance power and system parameter fluctuations on the performance of control system in the system of machine tool, system and machine tool The disturbance-based controller guarantees the good dynamic characteristics of the system and applies it to the actual system. Experiments show that the control strategy allows the system to have a good ability to suppress various disturbances when tracking the speed signal. The system's maximum steady-state tracking error is less than ±201. The servo feed system of the ultra-precision machine tool directly determines the machine tool's processing quality and production. There is rotor imbalance due to the AC permanent magnet torque motor used. Record the deviation of the wide current bias magnetic field.

It will also make the motor torque frequency and the speed proportional to the fluctuation of the force; and the system's load change lubrication degree and other factors, will cause the motor shaft static friction and static friction; a large range of changes; especially the parts processing During the process, the influence of the cutting force causes load torque fluctuations, which limit the improvement of the machining accuracy of the parts. Therefore, how to compensate these disturbance torques in the servo system of ultra-precision machine tools and the fluctuation of the parameters of the system is enough to improve the decisive factor of the system. To eliminate the effects of various disturbance moments, we designed a disturbance observer and used feedforward control to achieve dynamic compensation of the disturbance torque.

1 system composition super-adhesive machine tool feed system by AC servo motor ball screw actual position servo feed, Shanquan frequency laser under the instrument to achieve position detection, using air static pressure guide and air-floating table to reduce the transmission process The influence of medium friction, 艿 system structure such as the cabinet.

The worktable, the light thousand, the instrument adopts the double closed-loop speed regulation structure of the speed loop outer ring and the current loop inner ring for the AC servo drive unit used, and the speed loop and the current loop adopt the type regulator because the current loop time constant is sufficiently small It can be simplified into a proportional link, the fire 7 generation torque constant. Then the Super-National Natural Science Foundation funded project 59835180, the confidential machine tool servo system dynamic model 2, Pavilion 2. The torque constant ruler 1 is 16, the speed regulator scale factor ruler is 321; the speedometer scale factor. For 796, to 8; ball screw transmission coefficient. Find the moment of inertia for 0.8 sink 1 negative. , = 2.3214812; the circuit magnification of the laser interferometer, the frequency response of the measuring circuit of the laser interferometer is high, and it is used as the proportional link, which is the speed input multiple 1; the position input is 14; the generation work position is the position The error signal is the position controller; the disturbance torque of the 3rd generation system mainly includes the friction torque load torque and the turbulent fluctuation torque. 2 The design of the disturbance compensation feedforward controller can be obtained by 2 LJCvKTU, = variable. The load moment of inertia, such as the ball screw transmission factor, may be a function of time due to changes in operating conditions and mechanical structure asymmetry. The meaning of the sum is the actual hatred, and, for the number of disturbances, the equivalent disturbance power equation with the disturbance torque and the parameterization is the sum of the substitution of the formula 2 into the sum of the disturbance torque and the disturbance torque, etc. It is a known parameter and a measurable parameter, so Equation 4 can be used as a disturbance observation equation to measure the uncertain factors in the system in real time. It is possible to observe the disturbance torque actually present in the system. Since the displacement order and the order differential signal are introduced in Equation 4, this includes not only the useful signal but also the differential signal for the high frequency noise. Therefore, when using 犷 as the feedforward input signal, a low pass filter must be added. To filter out high frequency signals. In order to ensure that the feedback loop is true, there is a rational division. In this paper, 0 is taken as the order vibration link, and the frequency of all the disturbance signals, including the frequency of the disturbance signal B (1), and the specific parameter value will be debugged in the actual system, which should be greater than the frequency of all disturbance signals. Then, after adding the disturbance feedforward compensation, the design of the feedback controller is a type system. The design of the 7-inch control system is summarized as how to design the system into a wide-bandwidth and high-stiffness servo system to ensure a fast response speed of the system. And the strong anti-interference ability of the wood system feedback controller 3. The shape of 1 is used as infinite, so the system effectively suppresses the influence of the step disturbance torque on the motor shaft. But for time-varying disturbance torque, only design is better; The gain coefficient is not enough to achieve effective suppression of the noise and the unmodeled dynamic characteristics of the system. The design is high and the system is very difficult. By absorbing the disturbance torque in the disturbance feedforward control compensation system, the system can ensure good interference suppression performance. In this way, the design of the feedback controller only needs to ensure the stability and dynamic characteristics of the system, and does not require excessive system gain. The better damping characteristics of the system can be obtained by adjusting the parameters. When the choice is appropriate, the system can get good dynamic indicators. Considering the influence of the system's response speed noise error and unmodeled dynamic characteristics, the bandwidth of the system is designed to be finalized. Finally, the feedback controller can be determined as u, Mingde, and in addition, the input signal range of the motor driver is limited to ± 6, in order to prevent the feedback controller from the large control effect causing the output of the power amplifier in the driver to saturate, a feedback request is introduced for the integral control function. The structure 4 of the entire feedback controller is small. The linear part of the saturated nonlinear link has a proportional coefficient of 1.

By limiting the output of the chat between and between, when the time is 5, the feedback loop in the integral term does not work, and when the fire is at or less than 1, it is already. Losing 1 is not zero. The output of the integral adjustment is traversed to and between.

Died by the bilinear transformation method. Let 5=. The feedback controller of the knot design and the disturbance compensation feedforward wrench of the juice set are digitized to realize 7 of the sampling period. In this paper, the effectiveness of the controller designed for the verification of the 514 experimental result is The digital feedback and disturbance feedforward compensation controller should be added separately, and the 1 type ultra-precision machine tool servo system is also used. The machine tool adopts the United States, 3 also company 01050 AC torque servo motor and Ben; Jing Mi company produced 208 The dual-frequency laser interferometer has a detection resolution of 5,0 and a resolution of 12 bits. The used motor beats the torque of 61, and 5 is the tracking error curve of the machine tool with speed feed. Curve 3 is the tracking error of only the feedback controller. 4 is the tracking error of the feedback and disturbance feedforward compensation controller. .

It can be seen that due to the fluctuating torque of the motor whose frequency is proportional to its rotational speed, the servo system has a sinusoidal steady-state tracking error at constant speed tracking. The error signal frequencies are 3 out and 18 left, respectively, and only feedback control is used. The suppression effect of the interference is limited.

The magnitude of the tracking error is large and cannot meet the requirements of ultra-precision machining. 5 1 is the tracking effect after adding interference feedforward compensation, the tracking error amplitude is less than ±0.02 can interfere with the design research of the former cam linkage 10. Nie Yingxin Beijing Machine Tool Research Institute Currently, the foreign processing center adopts the human 1 device, mainly The Markov mechanism has no mechanical Yin cam linkage hydraulic or pneumatic mechanical tool change and other unique machining center users 10 devices. Among them, the cam linkage type human device has good reliability, high tool change speed, and is most easily introduced to the market independently, forming a specialized industrial production. For example, Taiwan’s Jisuke Japan will analyze the relevant technical questions in the design of the cam linkage type 1 organization. The 501=cam linkage type magazine manipulator that the author is responsible for design has been successfully matched with the 500 mainframe and put into mass production.

1 The principle and basic structure of the cam linkage person 1 At present, the basic structure of the cam linkage person used in the machining center can be divided into the rotation indexing action of the two parts 1 robot. Including the knife-feeding tool change function can effectively compensate the influence of the system's under-disturbing torque, so that the steady-state tracking error is greatly reduced.

5 Conclusions The various disturbances of the servo system of ultra-precision machine tools are the moments of the moments and the fluctuations of the parameters of the system. The main cause of electricity is the electric power. Mule, the model of the disturbance torque is introduced, and the disturbance-based loop is realized in the feedforward loop. Look back to zero. 2 The linear translation of the manipulator. Including the knife inserting knife.

Among them, the rotary indexing action of the manipulator adopts the worm cam. Some articles refer to the rolling gear 彡 vertical indexing mechanism to realize the twist line of the manipulator 1. The follower swing rod 2 plane cam 3. The worm cam 4. The follower roller cam 5. Dynamic compensation of the disturbance torque measured by the mechanical arm; The system has a fast response speed and good dynamic characteristics by appropriately selecting the parameters of the proportional and integral feedback controllers. The feedback controller is processed to prevent the motor amplifier output from saturating. The experimental results show that the control method combined with feedback control and feedforward compensation based on disturbance observation can effectively improve the tracking characteristics of the system, and has great practical value in engineering applications. A DC speed control system that realizes speed and load torque estimation based on a state observer. Electronic technology application, 200053 Guo Qingding. Research on permanent magnet AC linear servo system. Control and Decision, 1997, 1274 Wang Guangxiong. Control system design. Beijing Aerospace Publishing House, 1992.

The first person, Wang Lisong, Ph.D. student, Department of Control Engineering, Harbin Institute of Technology, 43 Letter Box, Institute of Precision Engineering, Harbin Institute of Technology, postal editor Xu Jielan, revised draft date 2000

(Finish)

With ISO .TS certification plastic mould tooling company ,with a dedicated team of highly skilled staff we can offer you individual attention and continuity of supply for all your moulding requirements. We offer an unique variety of Household Appliance Nasty Shot Fits which focus on the needs of various sectors. Our variety is manufactured according to set industry requirements by making use of quality plastic. These are widely known for its perspective precision, long service life and longevity.   Our customization competence enables us to meet the urgent demands of our clientele so as to win their faith and trust. The products we offer stumble on application in various engineering and related industries.Our excellent auditors test the items by using newest examining resources and devices to provide a perfect range at the customer's end. Research and growth employees consistently put their modern thoughts to get new and enhanced items so as to match the variegated needs of the clients. Our staff work in close sychronisation to ensure the shipping of excellent items on time at the customer's site. We offer all these items at the market major prices in order to fulfill the budgeting difficulties of our clients. Whether you just need a small quantity of plastic parts, or prototype parts to test form, fit and function,  CNC machining is an economical, quality alternative to plastic injection molding. CNC machining is very fast and cost-effective for making plastic prototypes. Since we use only high-quality plastic materials for CNC machining, you`ll be able to test your prototype for all the performance characteristics you will need in your actual production parts. CNC prototypes typically ship in 1-5 days, so you`ll get your parts very fast.

Household Injection Mould

Household Injection Mould,Oil Diffuser Design Odm Mould,Car Ultrasonic Aroma Diffuser Mould,Speaker Phone Mold

Topwell Spring Development Ltd. , http://www.topwelldesign.com