Design and control of a long stroke fast tool servo
Design and control of a long stroke fast tool servo
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发表时间：
2005
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通讯作者：
M. Byl
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作者：
M. Byl
本论文主要研究一种具整体式平衡质量的直线长行程快速刀具伺服系统的设计与控制。长行程快速刀具伺服系统由一个空气轴承平台组成，由一个独特的三相油冷直线电机驱动。线性FTS的行程范围为25 mm，能够实现100 m/s 2的加速度。FTS安装在T型底座金刚石车削机床（DTM）上。FTS连接到由第二线性电机驱动的静压轴承支撑的进料级。进料台可响应FTS驱动力而移动，因此可用作整体平衡质量。我们已经开发了一种独特的控制结构来控制FTS和反应质量的位置。FTS控制器采用传统的超前-滞后内环，自适应前馈抵消（AFC）外环，和命令预移位。对于FTS控制器，AFC谐振器被放置在前向路径中，这在谐振器频率处产生无限增益。静液压平台的控制器由传统的超前滞后控制内环和基础加速度反馈控制器组成。加速度反馈控制器由高通滤波器、双积分相位补偿器和AFC谐振器阵列组成。对于基础加速度控制器，AFC谐振器被放置在反馈路径中，因此充当窄频率陷波滤波器。陷波滤波器允许静液压级/平衡块在命令的轨迹谐波处自由移动，从而衰减引入DTM的力。AFC控制回路的设计采用了一种新的AFC控制回路成形方法。在这篇论文中，我们提出了两个扩展AFC控制。第一个扩展称为振荡器振幅控制（OAC）是用来近似AFC控制器的收敛特性。第二种扩展称为幅度调制自适应前馈抵消（AMAFC）的目的是精确地消除干扰与时变幅度。论文指导：大卫L。Trumper头衔：机械工程教授
In this thesis, I detail the design and control of a linear long stroke fast tool servo (FTS) with integral balance mass. The long stroke fast tool servo consists of an air bearing stage driven by a unique three phase oil cooled linear motor. The linear FTS has a travel range of 25 mm and is capable of 100 m/s 2 accelerations. The FTS is mounted to a T-base diamond turning machine (DTM). The FTS is attached to a hydrostatic bearing supported in-feed stage which is driven by a second linear motor. The in-feed stage is allowed to move in response to the FTS actuation forces and thus acts as an integral balance mass. We have developed a unique control structure to control the position of both the FTS and the reaction mass. The FTS controller employs a conventional lead-lag inner loop, an adaptive feedforward cancelation (AFC) outer loop, and command pre-shifting. For the FTS controller, the AFC resonators are placed in the forward path which creates infinite gain at the resonator frequency. The controller for the hydrostatic stage consists of a conventional lead-lag control inner-loop and a base acceleration feedback controller. The acceleration feedback controller consists of a high-pass filter, a double integrator for phase compensation, and an array of AFC resonators. For the base acceleration controller, the AFC resonators are placed in the feedback path and thus act as narrow-frequency notch filters. The notch filters allow the hydrostatic stage/balance mass to move freely at the commanded trajectory harmonics thus attenuating the forces introduced into the DTM. The AFC control loops are designed using a new loop shaping perspective for AFC control. In this thesis, we present two extensions to AFC control. The first extension called Oscillator Amplitude Control (OAC) is used to approximate the convergence characteristics of an AFC controller. The second extension termed Amplitude Modulated Adaptive Feedforward Cancelation (AMAFC) is designed to exactly cancel disturbances with a time varying amplitude. Thesis Supervisor: David L. Trumper Title: Professor of Mechanical Engineering