基于干扰观测器的龙门机床双驱系统的同步控制

根据动梁式龙门机床双驱动系统的结构特点及运动特性，基于拉格朗日方程，建立了龙门机床两轴之间的机械耦合模型，结合传动系统动态模型和伺服系统三闭环控制结构，得到了龙门机床双驱动系统模型；为了降低非对称结构和偏心负载等干扰对同步性能的影响，提高系统的抗干扰性，提出了一种基于干扰观测器（DOB）的双驱动系统同步控制方法；最后进行了仿真分析，仿真结果表明，通过干扰观测器对干扰进行补偿后，龙门机床双驱动系统的同步性能得到了明显的提高。

Synchronous Control of Dual-drive System in Gantry-type Machine Tools Based on Disturbance Observer

According to the structure and motion characteristics of the double drive system in CNC gantry-type machine tools with moving beams, a mechanical coupling dynamic model of double drive system in the gantry-type machine tools was established based on Lagrange's equation. Combined with the dynamic model of transmission system and the three closed loop control structure of servo system, the double drive system model of gantry machine was obtained. In order to reduce the effects of asymmetric structure and eccentric load disturbance on the synchronization accuracy and improve the anti-interference of the system, a dual drive system synchronization control method was proposed based on DOB. Finally, the simulation analyses were carried on. The simulation results show that the synchronization performance of double drive system to improve in gantry-type machine tools is obviously improved after the disturbance compensation by disturbance observer.