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
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[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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