快速刀具伺服系统自抗扰控制的研究与实践-控制理论与应用.PDF

30 12 Vol. 30 No. 12 2013 12 Control Theory Applications Dec. 2013 DOI: 10.7641/CTA.2013.31060 , , (, 1000841) : (fast tool servo, FTS). ,FTS, . FTS , , , , , , , . , . : , . : ; ; ; : TP275 : Research and industrial applications of active disturbance rejection control to fast tool servos WU Dan , ZHAO Tong, CHEN Ken (Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China) Abstract: Fast tool servos play crucial roles in machining workpieces with noncircular cross sections or non-rotationally symmetric surfaces, by actuating the cutting tool to complete desired tracking motions with high accuracy and at high speed, in the presence of time-varying cutting force disturbance and nonlinear plant parameters. To this end, two active disturbance rejection solutions are developed to control the shear stress and normal stress electromagnetically driven linear actuators. Given the reference trajectories of the cutting tool, the feed-forward strategy is combined the active disturbance rejection design with the linear and nonlinear extended state observers. The tracking accuracy and dynamic stiffness are analyzed using classic frequency response method for the linear controller; and the existence of limit cycles associated with the nonlinear controller is investigated using the describing function method. The proposed control strategies for the fast tool servos have found successful applications in precision machining an engine piston with elliptical cross sections and ultra-precision machining two dimen