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A linear motor drive FTS based on ESO sliding mode improved repetitive control method

A linear motor, repetitive control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of discontinuous control action, difficult parameter adjustment, low robustness, etc., and achieve improved robustness. performance and tracking accuracy, improving robustness, and improving tracking accuracy

Active Publication Date: 2020-05-22
苏州雄风电机有限公司
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Problems solved by technology

Active disturbance rejection controller algorithm is simple, easy to implement, high precision, fast speed, strong anti-disturbance ability, but difficult to adjust parameters
Repeated control can improve the tracking accuracy of control very well, but its robustness is low, while sliding mode control has strong robustness and has the advantages of simple implementation, but the discontinuity of its control effect will lead to chattering

Method used

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  • A linear motor drive FTS based on ESO sliding mode improved repetitive control method
  • A linear motor drive FTS based on ESO sliding mode improved repetitive control method
  • A linear motor drive FTS based on ESO sliding mode improved repetitive control method

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[0205] The selected motor is a coreless permanent magnet linear synchronous motor. The specific parameters are: the mass of the mover M = 0.32kg, the viscous friction coefficient B v =0.001N·s / m, electromagnetic thrust coefficient K F =28.5N / A, mover resistance R s = 8.6Ω. In order to meet the requirements of high-frequency processing, the reference input is selected as a sine wave signal with an amplitude of 0.01mm and a frequency of 100Hz. Friction:

[0206] ESO sliding mode control parameters: λ=40, α=50, k 1 =603,k 2 =121202,k 3 =8120400

[0207] Improved repetition control parameter: ω q =600πrad / s,k p =-200000,k d =-30

[0208] Based on the above series of parameters, when the given reference signal amplitude is 0.01mm and the frequency response is 100Hz, its input and output signals are as follows: Figure 7 As shown, the curve in the figure reflects that the designed control algorithm has good tracking performance, and the output can reproduce the input wi...

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Abstract

The invention relates to a method of a linear motor driving FTS (Fast Tool Servo) for improving repetition control based on an ESO (Extended State Observer) sliding mode. The method comprises improved plug-in repetition control and extended state observer based sliding mode control, and is characterized in that the plug-in structure can enable design of a repletion controller to be independent from other controllers. Meanwhile, repetition control can embed a mathematical model of external signals of the system into an internal control link by using an internal model principle so as to be able to realize high-precision tracking and suppression for external periodic signals and interference. In addition, an advanced module is additionally arranged in order to reduce phase delay caused by a low pass filter. In allusion to a problem of phase lag, which is caused by factors such as inertia, of the fast tool servo system when the high-frequency input is given, a mode of combining improved repetition control and ESO sliding mode control is adopted, and the problem can be well solved. The internal model principle based repetition control can effectively improve the tracking precision of the system, and the plug-in structure can enable the system to have wide control bandwidth and high robustness.

Description

[0001] ·Technical field [0002] The invention belongs to the field of numerical control technology processing, and in particular relates to the design and realization of a linear motor-driven FTS (Fast ToolServo, FTS fast tool servo system) based on ESO (Extended State Observer, ESO, extended state observer) sliding mode improved repetitive control method . Background technique [0003] In recent years, non-circular cross-section parts and non-axisymmetric (that is, non-rotationally symmetric) optical components have been widely used in the mechanical industry and the optoelectronic industry, respectively. These parts have asymmetric surface contours, complex shapes, and high precision requirements. Traditional processing methods such as imitation processing, grinding and polishing, electrochemical corrosion, photolithography, etc. have low processing efficiency and poor consistency of processing accuracy, which cannot meet the required requirements. Requirements, so the rea...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙宜标张戟刘春芳
Owner 苏州雄风电机有限公司
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