双直线电机同步驱动系统中模糊自适应PID控制方法的研究

以龙门移动式镗铣加工中心进给方向上的双直线电机为研究对象，针对双进给轴在扰动下的速度以及加速度的不同步，采用模糊自适应与传统PID控制相结合的方案，实现了对PID控制器参数的在线自动整定.将这种控制方案应用于双直线电机驱动的两轴之间的反馈回路中，并采用速度与加速度双重补偿，以尽快地抑制由不同步引起的扭矩.仿真结果表明，此种方案抗扰性能强、鲁棒性、快速性及动态性能均良好，能够较好地满足被控对象对高精度的要求.

Fuzzy self-adaptive PID control for synchronized drive of dual linear motors system

Based on dual linear motors in the feed direction of gantry moving type boring-milling machining center,fuzzy self-adaptive PID control method is proposed and the parameters of PID are set on-line.And this control method is creatively used in the feedback circle of dual linear servo motors to limit the torque caused by asynchronization.The dual compensations of speed and acceleration are used at the same time to improve the rapidity of the compensation.The simulation results indicate that the proposed system has strong noise immunity and robustness and that the rapidity is good and dynamical synchronous error is small.So this control method can satisfy the demands of the controlled subject for the high precision applications.