高性能运动控制器的滑模变结构控制

采用经典PID控制算法的传统运动控制器在受到外部扰动或伺服系统结构参数发生变化时会使系统性能受到影响,运动控制器与数控系统之间低速的ISA总线通信也已无法满足控制器进行复杂的位置控制运算需要大量实时数据传输的要求,降低了运动控制器的控制性能。文章提出在运动控制系统中采用滑模控制算法,减少了外部干扰和系统内部参数变化对系统的影响,提高了系统的鲁棒性 此外,设计中采用PCI总线通信,使数据通信能力显著提高。采用该算法可以有效地克服系统结构参数变化和外部干扰对系统动态响应的影响,明显提高系统的响应速度,同时保持原来系统无超调的要求,使系统具有更好的动态性和较高的鲁棒性,提高了运动控制器的控制性能。

Research of High Performance Motion Controller of CNC Based on Sliding Model

Motion controller is key part of antenna control system,in some motion controller, classic PID control algorithm was adopted. But the outside disturbance and varying parameters often depress system performance,so the robustness of system which use PID control algorithm was reduced. On the other hand, ISA bus was used to communicate between servo controller and main computer. ISA is low speed interface protocol,it cannot provide more data for complicated real time position control in motion controller. So it also limits the performance of motion control. In this paper,the sliding model control algorithm was used in motion controller to reduce the outside disturbance and inside varying parameters affection on system and enhance robustness of motion system. When using slide model controller,it can decrease the affection of parameter varying and outside disturbance to dynamic characteristic, cut down the adjustment time, accelerate response time without overshoot .so the robustness of motion system is increased remarkably,meantime the performance of antenna control system was enhanced.