Perfectly Matched Feedback Control and Its Integrated Design for Multiaxis Motion Systems
Perfectly Matched Feedback Control and Its Integrated Design for Multiaxis Motion Systems
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DOI：
10.1115/1.1789970
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发表时间：
2004-09
影响因子：
1.7
通讯作者：
S. Yeh;P. Hsu
中科院分区：
文献类型：
--
作者：
S. Yeh;P. Hsu
对于具有多个轴的运动系统，通常采用了匹配的直流收益的方法来提高低速操作下的轮廓精度。为了实现现代制造业中的高速和高精度运动，本文提出了针对多毒性运动系统的完美匹配的反馈控制（PMFBC）设计。通过应用稳定的零零取消，并包括所有轴未经济零零的互补零，可以实现整个频率范围内所有轴的匹配的动态响应。因此，基本反馈循环保证了多毒性系统的轮廓精度。在实际应用中，建模误差是不可避免的，并且存在基于模型的PMFBC的降解和局限性。因此，提议将新设计的数字干扰观察者包括在每个轴的拟议的PMFBC结构中，以补偿不良的非线性和干扰，以维持PMFBC设计的所有轴之间的匹配动力学。此外，采用前馈控制环零相误差跟踪控制器来减少跟踪误差。三轴CNC加工中心的实验结果表明，通过应用当前的PMFBC设计，可以实现轮廓精度和跟踪精度。 @Doi：10.1115/1.1789970＃
For motion systems with multiple axes, the approach of matched direct current gains has been generally adopted to improve contouring accuracy under low-speed operations. To achieve high-speed and high-precision motion in modern manufacturing, a perfectly matched feedback control (PMFBC) design for multiaxis motion systems is proposed in this paper. By applying stable pole-zero cancellation and including complementary zeros for uncancelled zeros for all axes, matched dynamic responses across the whole frequency range for all axes are achieved. Thus, contouring accuracy for multiaxis systems is guaranteed for the basic feedback loops. In real applications, the modeling error is unavoidable and the degradation and limitations of the model-based PMFBC exist. Therefore, a newly designed digital disturbance observer is proposed to be included in the proposed PMFBC structure for each axis to compensate for undesirable nonlinearity and disturbances to maintain the matched dynamics among all axes for the PMFBC design. Furthermore, the feedforward control loops zero phase error tracking controller are employed to reduce tracking errors. Experimental results on a three-axis CNC machining center indicate that both contouring accuracy and tracking accuracy are achieved by applying the present PMFBC design. @DOI: 10.1115/1.1789970#