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基于前馈及自适应滤波的零跟踪误差伺服控制器
引用本文:聂建华,李晟. 基于前馈及自适应滤波的零跟踪误差伺服控制器[J]. 制造技术与机床, 2007, 0(9): 109-112
作者姓名:聂建华  李晟
作者单位:安徽工业大学电气信息学院,安徽马鞍山,243000
摘    要:针对常规进给数控伺服系统中由于存在跟踪误差从而导致加工几何精度下降的现象,利用数控加工轨迹已知的特点,提出了基于自适应滤波的前馈控制方案。该方案通过速度精插补器产生速度前馈给定信号;同时该位置给定通过对称滤波器施加位置反馈,消除位置环重复给定的影响;并采用广义最小二乘法进行对象辨识以保证该滤波器的参数匹配。通过分析证明了该方案能在理论上实现无跟踪误差的伺服控制,并通过Matlab仿真验证了其有效性。

关 键 词:伺服系统  跟踪误差  轨迹误差  前馈  广义最小二乘法
修稿时间:2007-01-30

The Zero-tracking Error Servo Controller Based on the Feed-forward and Adaptive Filter
NIE Jianhua,LI Sheng. The Zero-tracking Error Servo Controller Based on the Feed-forward and Adaptive Filter[J]. Manufacturing Technology & Machine Tool, 2007, 0(9): 109-112
Authors:NIE Jianhua  LI Sheng
Abstract:Considering the existed tracking error in the servo system causing the contouring error and reducing the geometric accuracy, taking the advantage of that the tracking in CNC machining is known, this paper proposes the adaptive feed-forward control plan. The control plan uses accurate interpolationer to generate the feed-forward velocity signal. It eliminates the influence of repeating setting of the position loop through using filter. Besides, it uses Generalized Least Square Method to acquire filter parameter. Theoretically, the plan can do the zero tracking error control. And the control effect of the plan was proved in the Matlab simulation test.
Keywords:Servo System  Contouring Error  Feed-forward Control  GLS
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