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六自由度虛軸機(jī)床神經(jīng)網(wǎng)絡(luò)位置伺服控制
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    摘要:

    針對(duì)永磁直線伺服電機(jī)(PMLSM)驅(qū)動(dòng)的六自由度虛軸機(jī)床，提出利用基于神經(jīng)網(wǎng)絡(luò)的位置伺服控制器對(duì)電機(jī)動(dòng)子加速度進(jìn)行控制的方案。為抑制對(duì)電機(jī)動(dòng)子加速度影響較大的桿間耦合擾動(dòng)的影響，將負(fù)載擾動(dòng)和桿間耦合擾動(dòng)整合為一個(gè)對(duì)象,，并等效為電機(jī)動(dòng)力學(xué)參數(shù)的變化,，利用觀測(cè)器進(jìn)行在線觀測(cè),，結(jié)合神經(jīng)網(wǎng)絡(luò)位置伺服控制器進(jìn)行調(diào)整,，從而較好地提前抑制了速度與位置誤差,。所設(shè)計(jì)的神經(jīng)網(wǎng)絡(luò)位置伺服控制器結(jié)構(gòu)簡(jiǎn)單,，權(quán)值調(diào)整方便,，計(jì)算量小、響應(yīng)速度快,。仿真實(shí)驗(yàn)表明該方法對(duì)虛軸機(jī)床各桿的位置,、速度、加速度實(shí)現(xiàn)了精確的跟隨控制,，系統(tǒng)具有很強(qiáng)的魯棒性,。

    Abstract:

    Aiming at 6-DOF virtual-axis machine tool driven by permanent magnetic linear synchronous motor (PMLSM)，a control scheme on rotor acceleration was presented based on neural network position servo controller. In order to overcome the influence of the coupling force between links, which have a strong affection to rotor acceleration, the load disturbance and coupling force have been integrated and was regarded as the dynamic parameters' variation of PMLSM, and the equivalent parameters were online observed by observer and adjusted by neural network position servo controller, the errors of the speed and position were decreased ahead. The controller has the advantages of simple structure, convenient weights adjusting, small calculation and fast response, etc. The simulation results verified that the tracking control for the position, speed and acceleration of each link was attained, and the system is robust to uncertain factors.

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黃禎祥,郭延文,廖劍霞,周書.六自由度虛軸機(jī)床神經(jīng)網(wǎng)絡(luò)位置伺服控制[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2007,38(4):146-150.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(4):146-150.

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