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Self-adaptation dynamic sliding mode controlling method controlled by virtual axis lathe parallel connection mechanism motion

A virtual axis machine tool and self-adaptive technology, which is applied in the field of virtual axis machine tools, can solve the problems of system control quality degradation, adverse effects of fast-changing dynamic characteristics on system control performance, and system control performance degradation, so as to improve motion control performance and weaken the Adverse effects, effects of increasing resistance

Inactive Publication Date: 2013-06-12
JIANGSU UNIV
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  • Application Information

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Problems solved by technology

Outside the boundary layer, the system satisfies the sliding mode condition, and its performance is not affected by system parameter changes and disturbances, and has good control quality. However, once the system operating state enters the boundary layer, the control performance of the system will be reduced because the sliding mode condition has been broken. Especially when the system is strongly disturbed, the control quality of the system will be further reduced due to the expansion of the boundary layer
In addition, the above-mentioned related control technologies cannot solve the problem that the fast-changing dynamic characteristics of the virtual axis machine tool actuator have an adverse effect on the system control performance.

Method used

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  • Self-adaptation dynamic sliding mode controlling method controlled by virtual axis lathe parallel connection mechanism motion
  • Self-adaptation dynamic sliding mode controlling method controlled by virtual axis lathe parallel connection mechanism motion
  • Self-adaptation dynamic sliding mode controlling method controlled by virtual axis lathe parallel connection mechanism motion

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Embodiment

[0081] The Fangming control method mainly focuses on solving the high-performance control problem of the parallel mechanism motion of the virtual axis machine tool with a new adaptive dynamic sliding mode control technology. Assuming that the virtual axis machine tool is composed of 6 branch parallel mechanisms, driven by AC servo motors, the block diagram of the branch control system is shown in figure 1 shown. The specific implementation of this control method is as follows:

[0082] 1. Establish the mathematical model of the controlled object in each control branch of the virtual axis machine tool with the interference item of the motor drive shaft

[0083] The key to establishing the mathematical model of the controlled object in each control branch of the virtual axis machine tool is to determine the f( x ) and g( x ) . Each branch takes the motor driver and the motor as the controlled objects, takes the parallel mechanism of the virtual axis machine tool as the load,...

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Abstract

The invention discloses a self-adaptation dynamic sliding mode controlling method controlled by virtual axis lathe parallel connection mechanism motion, which comprises first building a controlled object mathematical model of each branch controller of a virtual axis lathe with motor driving shaft distracters, then planning the motion route of a virtual axis lathe parallel connection mechanism, confirming the expected motion curve of each branch driving motor of the virtual axis lathe in a process of achieving parallel connection mechanism expected motion, detecting actual motion state of each branch driving motor, constructing dynamic switching functions, designing self-adaptation ratio aiming at motor driving shaft disturbance, finally designing self-adaptation dynamic sliding mode control law, calculating driving control quantity of each control branch motor of the virtual axis lathe, transmitting the quantity to each motor driver, and driving the virtual axis lathe parallel connection mechanism to achieve the expected motion. The method can reduce negative effect of virtual axis lathe execution mechanism fast changing dynamic characteristics on the system control performance and improve resistance of the virtual axis lathe system on strong disturbance.

Description

technical field [0001] The invention relates to a virtual axis machine tool driven by a motor, in particular to a motion control method of its parallel mechanism. Background technique [0002] Virtual axis machine tools are composed of multi-rod parallel kinematic mechanisms. At present, it is still a recognized problem in the industry to realize high-performance control of virtual axis machine tools. One, seriously restricting its advantages to play. One of the key technologies to realize high-performance control machining of virtual axis machine tools is to implement high-performance control on the movement of its main structure—parallel mechanism. At present, the PID control method is commonly used in the industry, that is, the proportional integral differential action of the deviation between the expected position and the actual position of the drive motor of each branch of the parallel mechanism is used as the drive control quantity of each branch motor. This control m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/18
Inventor 高国琴刘辛军郑海滨牛雪梅
Owner JIANGSU UNIV
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