High-performance control method of multi-axis linkage numerical control machine tool system

Abstract

The invention provides a high-performance control method for a multi-axis linkage numerical control machine tool system, and relates to the field of high-end equipment manufacturing motion control, and the method comprises the steps: designing a multi-axis linkage numerical control machine tool system with coupling, nonlinearity and interference, and constructing a state space model of the multi-axis linkage numerical control machine tool system; decomposing the state space model to obtain i subsystem models; decoupling is carried out based on coupling analysis of the i subsystem models; designing a controller with a nonlinear processing structure; performing real-time elimination on a nonlinear term of the subsystem model through a controller with a nonlinear processing structure, realizing system linearization processing, and obtaining a linear steady closed-loop system; designing a robust controller; solving is carried out through a robust controller, interference terms of a linear steady closed-loop system are restrained, and high-performance control over the multi-axis linkage numerical control machine tool system with coupling, nonlinearity and interference is achieved. And the high efficiency, non-linear processing and disturbance suppression capabilities of the multi-axis linkage numerical control machine tool system are improved.

Description

Technical Field

[0001] The present application relates to the field of motion control for high-end equipment manufacturing, and in particular to a high-performance control method for a multi-axis linkage CNC machine tool system. Background Art

[0002] In the modern high-end equipment manufacturing industry, the control of multi-axis linkage CNC machine tool systems has always been a hot research topic in the field of motion control, and achieving high-performance control is a key core technology. However, due to the requirements of complex equipment functions of multi-axis linkage CNC machine tool systems in industrial application scenarios, the system inevitably has coupling and nonlinearity and interference, which seriously affects the control performance of the system; the problem of high-performance control of the system cannot be effectively solved only from the perspective of processing system coupling and nonlinearity or interference suppression and elimination.

[0003] With the rapid development of modern intelligent manufacturing technology, multi-axis linkage CNC machine tool systems are moving towards high precision. However, in many industrial applications, due to the difficulty of multi-axis linkage CNC machine tool systems in effectively decoupling the system and processing nonlinearity and interference suppression and elimination, the solutions adopted only solve one aspect of the problem, and the control effect is not good.

[0004] Therefore, it is urgent to design a robust controller that has system decoupling, nonlinear processing, interference suppression and elimination, so that the multi-axis linkage CNC machine tool system can obtain good control performance under high-speed and high-precision motion. Summary of the invention

[0005] The purpose of the present invention is to provide a high-performance control method for a multi-axis linkage CNC machine tool system in order to solve the problem that the existing axis linkage CNC machine tool system cannot effectively perform system decoupling and process nonlinearity and interference suppression and elimination at the same time.

[0006] The above-mentioned purpose of the present application is achieved through the following technical solutions: S1: Design a multi-axis CNC machine tool system with coupling, nonlinearity and interference, and construct its state space model; S2: Decompose the state space model to obtain subsystem models; S3: Based on Coupling analysis of subsystem models and decoupling; S4: Design controllers with nonlinear processing structures; S5: The nonlinear terms of the subsystem model are eliminated in real time through a controller with a nonlinear processing structure, the system is linearized, and a linear steady-state closed-loop system is obtained; S6: Design robust controllers; S7: By solving the robust controller, the interference terms of the linear steady-state closed-loop system are suppressed, and high-performance control of multi-axis linkage CNC machine tool systems with coupling, nonlinearity and interference is achieved.

[0007] Optionally, step S1 includes: The multi-axis linkage CNC machine tool system under consideration has coupling, nonlinearity and interference. Its state space model expression is as follows: (1) in Respectively represent multi-axis linkage CNC machine tool system System status, system output, system control input and system disturbance at any moment; is the system state derivative; They are the system matrix, input matrix, interference input matrix and output matrix respectively; , , For the system Axis subsystem status, ; , For the system Axis subsystem output status; , For the system Axis subsystem control input; , For the system Axis subsystem interference; ; ; ; ;

[0008]

[0009]

[0010]

[0011] in, The system Axis subsystem matrix, input matrix, disturbance input matrix and output matrix; Belong to system parameters, ; ; Characterize the nonlinear terms of the system; represents a diagonal matrix.

[0012] Optionally, step S2 includes: Based on the state space model, the multi-axis linkage CNC machine tool system is decomposed into subsystems, among which Subsystem Model It is expressed as follows: (2).

[0013] Optionally, step S3 includes: Based on Subsystem Model The coupling law of The axis subsystem is decoupled as follows: (3) in Derivatives representing the state of the system; Respectively Axis subsystem decoupled from rear subsystem The system matrix, control input matrix, interference matrix and output matrix.

[0014] Optionally, step S4 includes: After decoupling, the subsystem and Design the following controller with nonlinear processing structure: (4) in They are the decoupled subsystems to be designed and The control input, Represents the all-wheel drive system matrix to be designed.

[0015] Optionally, step S5 includes: Substitute the controller with nonlinear processing structure into the decoupled subsystem and , the nonlinear terms of the subsystem are eliminated in real time to obtain the decoupled subsystem and The linear steady-state closed-loop system is expressed as follows: (5).

[0016] Optionally, step S6 includes: Design The robust controller is designed as follows: (6) in is the robust controller gain to be solved.

[0017] Optionally, step S7 includes: The robust controller is solved as follows: When designing a system matrix The decoupled subsystem and is stable, then for the subsystem If and only if there exists a symmetric tuning matrix , for subsystem If and only if there exists a symmetric tuning matrix , which satisfies the following matrix inequality: (7) Transform the matrix inequality (7) into an equivalent linear matrix inequality about the new variable and solve it by solving the linear matrix inequality to obtain and The value of will be solved Substitute the value into the controller (7) to suppress the interference term on the decoupled subsystem and The influence of can be eliminated, and the coupling, nonlinearity and interference items existing in the whole multi-axis linkage CNC machine tool system can be processed to achieve high-performance control of the whole multi-axis linkage CNC machine tool system.

[0018] A computer-readable storage medium stores instructions. When the instructions are executed, a high-performance control method for a multi-axis linkage CNC machine tool system is executed.

[0019] The beneficial effects of the technical solution provided by this application are: The technical solution of the present application takes into account that a multi-axis linkage CNC machine tool system inevitably has coupling, nonlinearity and interference at the same time. First, the system model is decomposed and the system model is decoupled based on the decoupling analysis. Secondly, a controller with a nonlinear processing structure is designed to eliminate the nonlinear terms of the system in real time to achieve system linearization. Finally, a robust controller is designed to process the system interference. The present application can achieve high-performance control of a multi-axis linkage CNC machine tool system with coupling, nonlinearity and interference, effectively handle the influence of system coupling, nonlinearity and interference on the system, and significantly improve the system's efficiency, nonlinear processing and disturbance elimination and suppression capabilities and control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present application will be further described below with reference to the accompanying drawings and embodiments, in which: Figure 1 is a step diagram in an embodiment of the present application; Figure 2 It is a control structure diagram in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to have a clearer understanding of the technical features, purposes and effects of the present application, the specific implementation methods of the present application are now described in detail with reference to the accompanying drawings.

[0022] The embodiments of the present application provide a high-performance control method for a multi-axis linkage CNC machine tool system.

[0023] Please refer to Figure 1 , Figure 1 It is a step diagram of a high-performance control method of a multi-axis linkage CNC machine tool system in an embodiment of the present application, comprising: S1: Design a multi-axis CNC machine tool system with coupling, nonlinearity and interference, and construct its state space model; Step S1 includes: The multi-axis linkage CNC machine tool system under consideration has coupling, nonlinearity and interference. Its state space model expression is as follows: (1) in Respectively represent multi-axis linkage CNC machine tool system System status, system output, system control input and system disturbance at any moment; is the system state derivative; They are the system matrix, input matrix, interference input matrix and output matrix respectively; , , For the system Axis subsystem status, ; , For the system Axis subsystem output status; , For the system Axis subsystem control input; , For the system Axis subsystem interference; ; ; ; ;

[0024]

[0025]

[0026]

[0027] in, The system Axis subsystem matrix, input matrix, disturbance input matrix and output matrix; Belong to system parameters, ; ; Characterize the nonlinear terms of the system; represents a diagonal matrix.

[0028] S2: Decompose the state space model to obtain subsystem models; Step S2 includes: Based on the state space model, the multi-axis linkage CNC machine tool system is decomposed into subsystems, among which Subsystem Model It is expressed as follows: (2).

[0029] In one embodiment of the present application, it is further found that the coupling of the subsystems has certain rules, and they can be decoupled and then the entire system can be reconstructed.

[0030] S3: Based on Coupling analysis of subsystem models and decoupling; Step S3 includes: Based on Subsystem Model The coupling law of The axis subsystem is decoupled as follows: (3) in Derivatives representing the state of the system; Respectively Axis subsystem decoupled from rear subsystem The system matrix, control input matrix, interference matrix and output matrix.

[0031] S4: Design controllers with nonlinear processing structures; Step S4 includes: After decoupling, the subsystem and Design the following controller with nonlinear processing structure: (4) in They are the decoupled subsystems to be designed and The control input, Represents the all-wheel drive system matrix to be designed.

[0032] S5: The nonlinear terms of the subsystem model are eliminated in real time through a controller with a nonlinear processing structure, the system is linearized, and a linear steady-state closed-loop system is obtained; Step S5 includes: Substitute the controller with nonlinear processing structure into the decoupled subsystem and , the nonlinear terms of the subsystem are eliminated in real time to obtain the decoupled subsystem and The linear steady-state closed-loop system is expressed as follows: (5).

[0033] In one embodiment of the present application, as long as the all-wheel drive system matrix to be designed If the design is appropriate, the subsystem and It is stable. Since there are disturbances in the system, a robust controller is designed to suppress its influence on the system.

[0034] S6: Design robust controllers; Step S6 includes: Design The robust controller is designed as follows: (6) in is the robust controller gain to be solved.

[0035] S7: By solving the robust controller, the interference terms of the linear steady-state closed-loop system are suppressed, and high-performance control of multi-axis linkage CNC machine tool systems with coupling, nonlinearity and interference is achieved.

[0036] Step S7 includes: The robust controller is solved as follows: When designing a system matrix The decoupled subsystem and is stable, then for the subsystem If and only if there exists a symmetric tuning matrix , for subsystem If and only if there exists a symmetric tuning matrix , satisfying the following matrix inequality: (7) In one embodiment of the present application, each matrix inequality in equation (7) has two unknown matrix variables: and , it is difficult to solve directly from the above matrix inequality. Therefore, through an appropriate variable substitution, the matrix inequality (7) is transformed into an equivalent linear matrix inequality about the new variables, and the linear matrix inequality is solved by solving it.

[0037] Transform the matrix inequality (7) into an equivalent linear matrix inequality about the new variable and solve it by solving the linear matrix inequality to obtain and The value of will be solved Substitute the value into the controller (7) to suppress the interference term on the decoupled subsystem and The influence of can be eliminated, and the coupling, nonlinearity and interference items existing in the whole multi-axis linkage CNC machine tool system can be processed to achieve high-performance control of the whole multi-axis linkage CNC machine tool system.

[0038] In one embodiment of the present application, the control structure diagram of the multi-axis linkage CNC machine tool system is as follows: Figure 2 As shown. The present invention is aimed at the coupling, nonlinearity and interference problems in the multi-axis linkage CNC machine tool system. On the basis of decomposing and decoupling the system model, a controller with a nonlinear processing structure is designed to obtain a linear steady-state closed-loop system, and then a robust controller is designed to achieve high-performance control of the multi-axis linkage CNC machine tool system. First, the method analyzes the system model, decomposes the established state space model, obtains the subsystem model representation, and on this basis, decouples each subsystem to achieve the elimination of system coupling.

[0039] In another embodiment of the present application, a controller with a nonlinear processing structure is designed to eliminate the nonlinear terms of the subsystem model in real time, realize system linearization processing, and obtain a linear steady-state closed-loop system, which simplifies the complexity of the model and further lays the foundation for improving the overall control performance.

[0040] In one embodiment of the present application, a robust controller is designed to further process the interference in the system. By solving the designed robust controller, the influence of the interference term of the linear steady-state closed-loop system on the system is suppressed, and the system interference is eliminated and adjusted, so that the system has strong anti-interference performance against disturbances, meeting the requirements of high-performance control industrial applications of the system in complex industrial operating environments.

[0041] In one embodiment of the present application, in the field of high-end equipment manufacturing motion control with high demand such as precision CNC machine tool processing, this solution can provide significant improvement in control accuracy, enhanced anti-interference, and applicability in complex industrial environments. These technological advances lay the foundation for the realization of efficient multi-axis linkage CNC machine tools and bring significant advantages to high-precision industrial applications.

[0042] The present application also discloses a computer-readable storage medium storing a plurality of instructions suitable for loading by a processor to execute the above-mentioned high-performance control method for a multi-axis linkage CNC machine tool system.

[0043] The above are only exemplary embodiments of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the disclosure of the specification and the truth of practice, those skilled in the art will easily think of other embodiments of the present disclosure.

[0044] This application is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art not described in the present disclosure. The description and examples are to be regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A high-performance control method for a multi-axis linkage CNC machine tool system, characterized in that: The method comprises the following steps: S1: Design a multi-axis CNC machine tool system with coupling, nonlinearity and interference, and construct its state space model; S2: Decompose the state space model to obtain subsystem models; S3: Based on Coupling analysis of subsystem models and decoupling; S4: Design controllers with nonlinear processing structures; S5: The nonlinear terms of the subsystem model are eliminated in real time through a controller with a nonlinear processing structure, the system is linearized, and a linear steady-state closed-loop system is obtained; S6: Design robust controllers; S7: By solving the robust controller, the interference terms of the linear steady-state closed-loop system are suppressed, and high-performance control of multi-axis linkage CNC machine tool systems with coupling, nonlinearity and interference is achieved.

2. A high-performance control method for a multi-axis linkage CNC machine tool system as claimed in claim 1, characterized in that: Step S1 includes: The multi-axis linkage CNC machine tool system under consideration has coupling, nonlinearity and interference. Its state space model expression is as follows: (1) in Respectively represent multi-axis linkage CNC machine tool system System status, system output, system control input and system disturbance at any moment; is the system state derivative; They are the system matrix, input matrix, interference input matrix and output matrix respectively; , , For the system Axis subsystem status, ; , For the system Axis subsystem output status; , For the system Axis subsystem control input; , For the system Axis subsystem interference; ； ； ； ； in, Respectively, the system Axis subsystem matrix, input matrix, disturbance input matrix and output matrix; Belong to system parameters, ; ; Characterize the nonlinear terms of the system; represents a diagonal matrix.

3. A high-performance control method for a multi-axis linkage CNC machine tool system as claimed in claim 2, characterized in that: Step S2 includes: Based on the state space model, the multi-axis linkage CNC machine tool system is decomposed into subsystems, among which Subsystem Model It is expressed as follows: (2)。 4. A high-performance control method for a multi-axis linkage CNC machine tool system as claimed in claim 3, characterized in that: Step S3 includes: Based on Subsystem Model The coupling law of The axis subsystem is decoupled as follows: (3) in Derivatives representing the state of the system; Respectively Axis subsystem decoupled from rear subsystem The system matrix, control input matrix, interference matrix and output matrix.

5. A high-performance control method for a multi-axis linkage CNC machine tool system as claimed in claim 4, characterized in that: Step S4 includes: After decoupling, the subsystem and Design the following controller with nonlinear processing structure: (4) in They are the decoupled subsystems to be designed and The control input, Represents the all-wheel drive system matrix to be designed.

6. A high-performance control method for a multi-axis linkage CNC machine tool system as claimed in claim 5, characterized in that: Step S5 includes: Substitute the controller with nonlinear processing structure into the decoupled subsystem and , the nonlinear terms of the subsystem are eliminated in real time to obtain the decoupled subsystem and The linear steady-state closed-loop system is expressed as follows: (5)。 7. A high-performance control method for a multi-axis linkage CNC machine tool system as claimed in claim 6, characterized in that: Step S6 includes: Design The robust controller is designed as follows: (6) in is the robust controller gain to be solved.

8. A high-performance control method for a multi-axis linkage CNC machine tool system as claimed in claim 7, characterized in that: Step S7 includes: The robust controller is solved as follows: When designing a system matrix The decoupled subsystem and is stable, then for the subsystem If and only if there exists a symmetric tuning matrix , for subsystem If and only if there exists a symmetric tuning matrix , which satisfies the following matrix inequality: (7) Transform the matrix inequality (7) into an equivalent linear matrix inequality about the new variable and solve it by solving the linear matrix inequality to obtain and The value of will be solved Substitute the value into the controller (7) to suppress the interference term on the decoupled subsystem and The influence of can be eliminated, and the coupling, nonlinearity and interference items existing in the whole multi-axis linkage CNC machine tool system can be processed to achieve high-performance control of the whole multi-axis linkage CNC machine tool system.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed by a computer, the method according to any one of claims 1 to 8 is executed.

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