数控机床无模型高速高精度运动跟踪控制关键技术的研究

The eternal object in the field of manufacture is machining with high speed and high accuracy. In order to control a mechanic equipment moving in high speed with high accuracy, its dynamic must be known and an accurate mathematical model must be build. However, moving mechanic device in high speed has strong nonlinear feature in its dynamics with much uncertainty, its accurate dynamic model is difficult to be obtained. Therefore, it is complicated to design a nonlinear controller and nonlinear system cannot be easily controlled by conventional scheme. This research proposes a special scheme to design a nonlinear controller. The mechanic device is considered as a black box and no mathematic model is needed. For those devices moving in repeat trajectory, a learning controller is designed in Fourier space. Thus, the tracking control problem in time domain can be formalized as a number of independent regulation control problems in Fourier space, so the controller can be greatly simplified. In the learning controller, the methods of full feedback, high performance DSP and high speed interpolation method are used. By learning, the controller gets a nonlinear feedforward signal and the non-linearity in mechanic device can be eliminated effectively with fast convergence and small tracking errors as well as good robust feature. This result was proofed by experiments

高速高精度的运动性能是现代数控机床永恒的追求目标。本项目使用无模型的基于傅里叶级数的自学习控制算法，将复杂的轨迹跟踪控制问题简化为调节器问题，可有效地消除机床的非线性因素的影响。结合高精度的轨迹生成方法和高速的插补采样技术，可实现高速、高精度的轨迹跟踪控制。其研究成果为数控机床的高速高精度运动控制开创了一条新的途径。