Anti-disturbance controller with double position loop feedback for feeding system

Abstract

The invention discloses an anti-disturbance controller with double position loop feedback for a feeding system. The anti-disturbance controller is mainly used for high-speed and high-precision control over the feeding system. The double position loop feedback, namely the motor rotating angle position thetaM_list feedback and the load position xL_list feedback, is adopted in the controller. Two loops for the feedback are respectively provided with a position controller and a state observer. The state observers assess the total disturbance of the feeding system online in real time and conduct compensation so as to obtain the high anti-disturbance capability. On the basis of compensating for the total disturbance in real time, errors of input signals and feedback measurement signals and differential design linear feedback rates of the input signals and the feedback measurement signals are used to obtain high control bandwidths. In addition, the control performance of the controller can be further improved through speed and acceleration feedforward. Thus, the anti-disturbance controller has the high control bandwidth, the high anti-disturbance capability and the high robustness and further has the advantages of being simple in algorithm, clear in control parameter physical significance, easy to debug and the like.

Description

technical field [0001] The invention relates to an anti-disturbance controller for dual-position loop feedback of a feed system, in particular to an anti-disturbance controller for dual-position loop feedback mainly used for high-speed and high-precision control of a feed system. Background technique [0002] In today's society, precision and ultra-precision machining technology has become an important part of modern machinery manufacturing. CNC machine tool is an important tool in mechanical manufacturing, and its accuracy index is an important factor affecting the machining accuracy of workpieces. As the main component of the CNC machine tool, the feed system's following performance and anti-interference ability have seriously affected the machining accuracy of the CNC machine tool. [0003] Most feed systems now use the transmission mode of motor + coupling + screw nut + workbench. The limited stiffness of the coupling, lead screw nut and support bearings results in a l...

AI Technical Summary

Problems solved by technology

However, since the cascade control does not depend on the mathematical model of the system at all, the control bandwidth is limited by the first-order resonance frequency of the feed system, the control effect is poor, and it is not practical for high-speed and high-precision control of the feed system

In response to this problem, scholars at home and abroad have proposed advanced control methods such as fuzzy control, neural network control, robust control and self-adaptation for high-speed and high-precision control of the feed system, and achieved good control results through laboratory experiments ; However, these control methods are relatively complex in algorithm, difficult to debug control parameters or depend on the precise model of the system, so the applicability is relatively poor

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