CAJ | 학술논문

针对直线电机驱动的精密数控X-Y平台在加工非线性曲线轨迹时，存在轮廓误差精度与稳定性差的问题，提出了基于超螺旋滑模的轮廓控制与基于二次型最优化的位置控制相结合的控制策略。轮廓控制器选用等效误差量为状态变量进行控制器设计，使轮廓误差精度问题转化为等效误差控制问题。位置控制器利用二次型最优化系统频域因子分解的设计方法，不仅满足了位置跟踪的抗干扰要求而且使控制器设计解析化。仿真与实验表明：在非线性周期扰动与负载变化扰动下，所提出的创新性方法对于高精度轮廓加工具有良好的可行性和有效性。
침대직선전궤구동적정밀수공X-Y평태재가공비선성곡선궤적시，존재륜곽오차정도여은정성차적문제，제출료기우초라선활모적륜곽공제여기우이차형최우화적위치공제상결합적공제책략。륜곽공제기선용등효오차량위상태변량진행공제기설계，사륜곽오차정도문제전화위등효오차공제문제。위치공제기이용이차형최우화계통빈역인자분해적설계방법，불부만족료위치근종적항간우요구이차사공제기설계해석화。방진여실험표명：재비선성주기우동여부재변화우동하，소제출적창신성방법대우고정도륜곽가공구유량호적가행성화유효성。
For the poor robustness of direct driveX-Y servo systems in the nonlinear track processing, a method combining the position controller based on frequency domain optimization and the ultra spiral sliding mode contour tracking controller was proposed to ensure the robustness of control system. By choosing the equivalence error as state variables to design the contour controller, the problem of outline error precision was transformed into the stabilization of equivalence errors. A position controller was designed by using the method of frequency domain factor decomposition in the quadratic optimization system. This method not only met the requirement of anti-interference and made the controller design analytical. The results of simulations and experiments show that the designed controller has high contour tracking accuracy for the nonlinear disturbances and parametric disturbances.