Novel disturbance-rejection following controller for ball screw feeding system

A ball screw and feed system technology, applied in the control of electromechanical brakes, control systems, digital control, etc., can solve the problems of difficult debugging of control parameters, complex algorithms, and dependence on accurate models of the system

Inactive Publication Date: 2016-02-03
RES INST OF XIAN JIAOTONG UNIV & SUZHOU +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the algorithms of these control methods are relatively complex, the adjustment of control parameters is difficult, or they depend on the precise model of the system, so the applicability is relatively poor.

Method used

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  • Novel disturbance-rejection following controller for ball screw feeding system
  • Novel disturbance-rejection following controller for ball screw feeding system
  • Novel disturbance-rejection following controller for ball screw feeding system

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0040] figure 1 Firstly, the general composition of the anti-disturbance follower controller of the feed system is given, which adopts a dual position feedback control architecture different from the position loop and speed loop control mode of the traditional feed system: the inner loop uses the equivalent position signal x of the motor angular position M As a feedback signal, while the outer loop passes the load position signal x L The feedback realizes the closed-loop control of the whole system. This controller has an equivalent error model feed-forward controller 1, a load position controller 2, a motor position state observer 3, a motor position controller 4, and a friction compensation controller 5, where:

[0041] The motor position state observer 3 uses the input motor control variable u and the equivalent linear position x of the motor through the linear extension state observer LESO3.1 M , to obtain the estimated value Z of the equivalent linear position of the mo...

Embodiment 2

[0062] For the evaluation of the total disturbance of the motor position loop, in addition to the evaluation of the linear extended state observer described in Embodiment 1, a reduced-order linear extended state observer can also be used for evaluation, such as figure 2 shown. The motor position state observer 3 uses the input motor control variable u and the motor equivalent linear position x through the reduced-order linear expansion state observer RLESO3.1 M Evaluate to obtain the estimated value Z of the motor equivalent speed MR1 and the total disturbance Z of the motor position feedback loop MR2 ; The motor position controller 2 uses the differential of the motor position command signal and the reduced-order linear extended state observer RLESO3.1 to obtain the evaluation value Z of the motor equivalent speed MR1 Subtract to get the speed error signal e M2 ;Use the motor position command signal x mr Subtracted measured motor equivalent position x M Get the motor po...

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PUM

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Abstract

The invention discloses a novel disturbance-rejection following controller for a ball screw feeding system, mainly for high-speed high-precision control of a ball screw feeding system. The controller realizes accurate control of a motor position and a load position by use of an active disturbance rejection technology and proportional integration (PI). Under such a control framework, an extended state observer is applied to real-time online evaluation and compensation of such disturbance as high-order unmolded dynamics, parameter variation, cutting and the like so as to improve the disturbance-rejection performance and the robustness of a system. Besides, on the basis that a feedback linearization characteristic of active disturbance rejection control is utilized, a novel feedforward controller based on an equivalent error model is designed, and thus the following performance of the system is greatly improved. The equivalent error model has the advantages of zero-reliance on mechanical model, simple design, easy debugging and the like. Experiments and simulation results show that the designed controller has quite good following performance, disturbance rejection performance and robustness.

Description

technical field [0001] The invention relates to an anti-disturbance follower controller structure for high-speed and high-precision control of a ball screw feed system, which has the characteristics of simple algorithm, clear physical meaning of control parameters and easy debugging, and has better follow-up performance, higher Anti-interference ability, strong robustness and other advantages. Background technique [0002] Because the ball screw feed system has the advantages of high rigidity, high transmission accuracy, low sensitivity to cutting force and workpiece quality changes, and high cost performance, it is widely used in modern CNC machine tools. With the improvement of workpiece processing quality and processing efficiency, higher requirements are put forward for the design of the feed system control system: not only has high transient and steady state following accuracy, but also must have good anti-interference ability and Robustness against high frequency mode...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/13G05B19/18
Inventor 陈耀龙张承勇
Owner RES INST OF XIAN JIAOTONG UNIV & SUZHOU
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