数控转台直接驱动伺服系统的L_2鲁棒定位控制

针对采用直接驱动技术的数控转台回转送进系统易受参数不确定性和负载扰动影响的特点,采用L:鲁棒控制理论来设计控制器,并利用L_2范数对干扰信号加以限制.L_2鲁棒控制是用一个结构和参数都固定不变的控制器来保证系统在不确定性影响最严重的情况下也能满足性能要求,使系统具有较强的抗干扰性.仿真结果表明,所设计的控制器使系统对参数不确定性和负载扰动具有较强的鲁棒性,并实现了对位置输入信号的快速跟踪,从而提高系统的伺服性能.

L_2 robust positioning control for NC rotary direct drive servo system

For the characteristic of the direct drive NC rotary table rotary feeding system suffering from parameters uncertainties and load disturbances,L_2 robust control theory is adopted to design a controller,and the disturbance signals are limited by L_2 norm. In L_2 robust control,a controller with the invariable structure and parameters is employed to guarantee the system to meet performance requirements under the worst condition,so that the disturbances are resisted better. Simulation results show that the designed controller has stronger robustness against parameters uncertainties and load disturbances,and implements fast tracking to position input signals,thereby the servo performance of the system is enhanced.