The invention provides a device and method for controlling a gantry
numerical control milling
machine through double line permanent
magnet synchronous motors and belongs to the technical field of
numerical control. The method comprises the steps that firstly, a position
signal is input and at this time, the two line permanent
magnet synchronous motors receive the same order
signal and start to operate; the actually-measured position, the actually-measured speed and the actually-measured current of a rotor of each line
permanent magnet synchronous motor is determined; mixed error is calculated, the
complementation sliding mode variable
structure algorithm is adopted, the control rate is obtained finally, namely the control currents of the two line permanent
magnet synchronous motors are obtained, and the whole calculation process is achieved in a DSP. Two sets of six-path
PWM signals are generated by the DSP and drive the two line permanent magnet synchronous motors to operate respectively. According to the method for controlling the gantry
numerical control milling
machine through the double line permanent magnet synchronous motors, tracking errors of two axes are converted into the mixed error of a double-line-motor
servo system through cross
coupling control, so that the locating accuracy is improved, compared with a
system controlled through a traditional method, the double-line-motor
servo system is high in response speed, it is guaranteed that the tracking errors and synchronous errors are converged on zero simultaneously and rapidly, and
complementation sliding mode
variable structure control still has the characteristic of high robustness of tradition
sliding mode control.