基于重复控制的数控机床三轴伺服系统分析-analysis of 3 - axis servo system of nc machine tool based on repetitive control.docxVIP

AbstractAlthough our country began with the introduction and absorption of foreign technology in the last century and a series of servo motor bodies and digital control systems are researched and developed independently, there is a certain gap between foreign countries and us. Performance of servo system has already affected the healthy development of China’s machine tool industry. So the research on the related control technology of machine tool servo system has important significance. And it can be applied to other servo systems.The error of servo system is analyzed based on the model of servo system in thispaper. The seasibility of repetitive control used in the servo system is proved. And the parameters of DC servo system and PMSM servo system of the experimental platform is designed. The plug in repetitive controller is introduced in position loop to compensate error and the simulation is done.At present, general CNC machine tool servo sytem has advantages such as non- transparent procedures, long development cycyle. Computer with data acquisition card and Matlab software is used to realize CNC machine tool servo system control platform in this paper. The proposed algorithm can be verified quickly by the platform. Transplantable C code can be generated by Matlab. The code can be transplanted in to DSP. Therefore, the development cycyle is shortened.The control and detection of servo motor is realized by Matlab toolbox. Thus the servo system based on repetitive control is realized. The control parameter are optimized through debugging. The single axis servo system performace achieves the desired performance. The change of system performance is studied before and after the application of repetitive controller through experiment. The influence on the system by different repetitive controller parameters are also studied. Experimental results show that the proposed method eliminates the phase lag of position output compared with traditional PID control method. The s