虚拟轴机床并联机构的自适应动态滑模运动控制.pdf

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虚拟轴机床并联机构的自适应动态滑模运动控制

高国琴郑海滨

(江苏大学电气信息工程学院镇江

212013)

摘要：虚拟轴机床系统模型复杂难以准确建立，高速加工时存在强烈干扰且不确定，难以实际实现高性能控制，为此，提出

一种新型自适应动态滑模控制方法，用于虚拟轴机床并联机构控制。通过构建新型动态切换函数，设计二阶动态滑模控制，

以解决采用常规等效控制设计的滑模控制系统，因忽略执行机构快变动力学特性等而导致控制系统品质降低甚至不稳定的问

题，同时避免滑模抖振的出现；引入自适应控制对虚拟轴机床加工时的外界干扰等不确定因素进行在线估计，以克服滑模控

制性能需依赖于对未知干扰的先验估计的局限，增强虚拟轴机床克服高速加工时的强烈干扰的能力，进一步提高其控制性能。

仿真和试验结果表明，采用自适应动态滑模控制方法，可使虚拟轴机床控制系统具有较好的自适应能力，较强的鲁棒性，良

好的动态、稳态品质。

关键词：虚拟轴机床并联机构动态滑模控制自适应控制

中图分类号：TH113.2

TP242.2

Adaptive

Dynamic

SlidingModeMotion

Control

forthe

Parallel

Mechanism

of

Virtual

Axis

Machine

Tool

GAOGuoqin

ZHENG

Haibin

(School

of

Electrical

and

Information

Engineering,

JiangsuUniversity,

Zhenjiang

212013)

：

AbstractTo

further

enhance

the

control

performance

of

the

virtual

axismachine

tool

with

acomplex

system

modelwhich

can

not

be

accurately

established

and

with

the

nonlinear,

strong

coupling

characteristics,

a

novel

adaptive

dynamic

sliding

mode

control

method

is

proposed

for

the

control

of

the

parallel

mechanism

of

the

virtual

axismachine

tool.

Asecondorder

dynamic

sliding

mode

controlis

designed

by

building

a

new

dynamic

switching

function

to

solve

the

problem

of

the

reduced

control

quality

and

even

the

system

instability

of

the

conventional

sliding

mode

control

system

based

on

the

equivalent

control

design,

due

to

the

neglect

of

the

fast

changing

dynamics

of

the

actuators,

and

to

avoid

the

chattering

of

the

sliding

mode.

The

adaptive

control

of

estimating

online

the

external

interference

of

the

virtual

axis

machine

tool

is

adopted

to

overcome

the

dependence

of

the

sliding

mode

control

performance

on

the

prior

estimate

of

the

unknown

interference,

and

enhance

the

ability

of

the

highspeed

processing

v