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Method for improving contour machining precision by using zero phase error tracking controller and disturbance observer

A zero-phase error and interference observation technology, applied in digital control, electrical program control, etc., can solve problems such as system non-modeling characteristics, system oscillation, and gain limitation

Inactive Publication Date: 2006-10-11
SHENYANG POLYTECHNIC UNIV
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Problems solved by technology

The conventional following control algorithm widens the frequency response bandwidth by increasing the gain, but it may lead to non-modeled characteristics of the excited system, and even system oscillation, so the increase in gain is limited

Method used

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  • Method for improving contour machining precision by using zero phase error tracking controller and disturbance observer
  • Method for improving contour machining precision by using zero phase error tracking controller and disturbance observer
  • Method for improving contour machining precision by using zero phase error tracking controller and disturbance observer

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Embodiment Construction

[0144] The present invention processes figure 2 Take the arc track shown as an example, set the system nominal object P n (s)=5 / (0.1s+1).

[0145] 1. Design of DOB

[0146] According to the set system nominal object, that is, the speed loop transfer function, the bandwidth of the third-order low-pass filter is continuously changed, as follows:

[0147] Q ( s ) = 3 τs + 1 ( τs ) 3 + 3 ( τs ) 2 + 3 τs + 1

[0148] Reasonably choose the value of τ, here, choose τ=1 / 260, the sampling...

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Abstract

The invention relates to a method for improving the profile processing accuracy by zero phase error track control and disturb-detection. It comprises: a ZPETC, PD position controller, a DOB, and a controlled object. Wherein, the ZPETC is used to eliminate the error generated by the phase delay of close-loop system; the PD controller is used to improve the response character of position loop; DOB is used to eliminate the disturbance of system and make the transmit function of speed loop into reference mode; the controlled object is formed by a motor, a speed ring, and a current ring; the input signal of ZPETC is a position reference instruction; the output position signal processed by ZPETC is compared with the feedback position signal to be fed to PD position feedback controller; the input of PD controller is the speed preset signal; after comparing the speed preset signal and the output signal of DOB, the error is fed into controlled object; the output of controlled object is the actual output speed signal, via integrator, to be actual position signal.

Description

technical field [0001] The invention belongs to the field of numerical control machining technology and control, and in particular relates to a control method for improving contour machining accuracy by combining zero-phase error tracking control and disturbance observer. Background technique [0002] With the development of high-tech and aerospace engineering, computer equipment, and high-precision products of optical engineering, the precision of parts is getting higher and higher. At present, the precision of ultra-precision machining is moving from sub-micron to nano-level. At the same time, the use of high-efficiency processing methods has become an urgent requirement of today's manufacturing industry. With the cooperation of cutting tools and other related technologies, cutting machine tools for high-speed and high-precision processing have emerged, mainly various types of machining centers and various CNC machine tools. Today's so-called high-speed and high-precision ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/19
Inventor 赵希梅郭庆鼎
Owner SHENYANG POLYTECHNIC UNIV
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