Accurate tracking controller design for high-speed drives
Accurate tracking controller design for high-speed drives
复制标题
DOI：
10.1016/j.ijmachtools.2006.08.027
复制
发表时间：
2007-07
影响因子：
14
通讯作者：
A. Kamalzadeh;K. Erkorkmaz
中科院分区：
文献类型：
--
作者：
A. Kamalzadeh;K. Erkorkmaz
本文提出了一种运动控制策略，利用振动避免，滑模控制，转矩涟漪和摩擦补偿技术相结合，以促进高带宽，高精度跟踪滚珠丝杠传动。扭转振动建模与有限元分析和实验确定。通过设计适当的陷波滤波器，避免了第一和第二模式的激励。在结构振动衰减后，使用自适应滑模控制来控制刚体运动，其中实现了223 Hz的定位带宽。在前馈中对非线性摩擦和电机/机械转矩脉动进行建模和补偿。在1g加速度下，以1000 mm/s的进给速度实现了0.95μm的实验跟踪精度。
This paper presents a motion control strategy that utilizes a combination of vibration avoidance, sliding mode control, and torque ripple and friction compensation techniques to facilitate high bandwidth–high accuracy tracking in ball screw drives. Torsional vibrations are modeled with finite element analysis and experimentally identified. Excitation of the first and second mode is avoided by designing appropriate notch filters. Following the attenuation of structural vibrations, rigid body motion is controlled using adaptive sliding mode control, where a positioning bandwidth of 223Hz is achieved. Nonlinear friction and motor/mechanical torque ripples are modeled and compensated in feedforward. With the proposed control strategy, an experimental tracking accuracy of 0.95μm has been achieved while traversing the axis at a feedrate of 1000mm/s with 1g acceleration.