龙门移动式数控机床横梁磁悬浮控制系统研究

针对龙门移动式数控机床中的移动横梁，提出了采用磁悬浮技术，实现无摩擦驱动的新型控制方案。首先，建立了横梁磁悬浮系统的数学模型，利用反馈线性化方法，将非线性模型转化为线性模型，再采用PI状态反馈设计的方法，设计一个悬浮控制器。该反馈线性化是一种全局线性化的方法，优于传统的局部近似线性化的方法。仿真结果表明，该悬浮控制器可以保证全局稳定，使系统具有良好的鲁棒性。

Research on Crossbeam Magnetic Levitation Control System of Gantry Moving Numerical Control Machine Tool

This paper adopts magnetic levitation technology for the moving crossbeam of the gantry NC machine tool in order to achieve non - friction control. Firstly, the mathematical model of the maglev system is established. By using the feedback linearization method, the nonlinear model can be transferred into linear model. Then, a maglev controller is designed based on the PI state feedback method. Feedback linearization is a global linearization approach, which is superior to the traditional local approximate linearization. The results of simulation show that the maglev controller can ensure the global stability and make the system have the better robustness.