基于扰动补偿算法的拉床主溜板双伺服同步驱动控制策略

阐述电伺服拉床的机电一体化系统结构，介绍拉床工作台的双伺服同步驱动系统及双滚珠丝杠机械传动机构。为提高拉削过程负载断续变化时主溜板同步运行的精度，从提高单轴伺服系统本身抑制负载扰动性能的角度出发，设计基于扰动辨识和补偿机理的自校正算法，重点分析其原理。基于该自校正算法设计并实现了双轴同步驱动的控制策略，该控制策略具有简单可靠易实现的特点。以一台20 t的伺服拉床为研究对象，分别在两主溜板耦合和不耦合且受力不平衡的情况下对控制策略的同步性能进行了多种吨位的加工测试，试验结果显示该扰动补偿算法是有效的，基于该扰动算法的同步控制策略具有很好的同步精度，这给双滚珠丝杠伺服同步控制系统的应用提供了很好的理论参考和试验数据。

Double Servo Synchronization Drive Control Strategy for the Main Slide Carriage of Broaching Machine Based on Disturbance Compensation Algorithm

The electromechanical integration system structure of the electric servo broaching machine, the double servo synchronous drive system and the double ball screw mechanical structure of the broaching machine worktable are introduced. To improve the synchronous operation precision of the worktable when the load changing intermittently, a self-tuning control algorithm is designed based on disturbance identification and compensation which is presented from the perspective of raising the load disturbance inhibition performance of servo drive system. And the principle of the algorithm is analyzed especially. Based on this disturbance compensation algorithm, a control strategy that achieved synchronization driven is designed and the control strategy is simple, reliable and easy to implement. Taking a 20-ton servo broaching machine as the goal, the synchronization performance of the control strategy is tested for a variety of tonnage, on the case of the two main slide carriage ran independently and the worktable work with unbalanced load respectively. The experimental results show that the disturbance compensation algorithm is effective, the synchronization control strategies based on the disturbance algorithm has a good synchronization accuracy, which provides a good theoretical reference and experimental data for the application of double ball screw servo synchronization control system.