基于重复控制的数控系统伺服调节技术的研究

针对数控活塞环车削周期性控制的特点,应用重复控制理论对活塞环车床数控系统伺服调节技术进行了研究。以M序列信号作为输入信号,采用最小二乘法首先对数控伺服系统模型进行了系统辨识;以辨识所得到的整个闭环伺服系统模型为调节对象,进行了重复控制器的设计,构建了适合于伺服系统调节的重复控制器;以Matlab/Simulink为工具对所构建的重复控制器进行了仿真比较,系统跟随误差由原来94.2%减少到11.1%;同时在自行开发的数控系统上进行实际试验比较,系统跟随误差也由87.9%减少到24.7%。通过试验表明,基于重复控制的伺服调节技术能有效地抑制周期运动中的跟随误差。

Study of Servo Control for a CNC System Based on Repetitive Control Theory

According to the periodicity control of the CNC piston ring turning,the repetitive control theory is applied to studying the servo control system of the CNC piston ring lathe.The model of NC servo control system is built by system identification using M-sequences and least square method.In order to enhance the servo unit performance,the repetitive controller is designed,which makes the whole closed-loop system as the control objects.Computer simulation of the whole repetitive control system is performed by Matlab/Simulink,and the results show that the following error drops from 94.2% to 11.1%.The repetitive controller is realized on a self-developed CNC system,and the test results show that the following error drops from 87.9% to 24.7%.All the facts show that the servo controller based on repetitive control theory can reduce the following error of periodic motion effectively.