自动化学报2024，Vol.50Issue(7)：1432-1444,13.DOI:10.16383/j.aas.c230381
快速刀具伺服系统位置域重复控制设计及其数字实现
Design and Digital Implementation of Spatial Repetitive Control for Fast Tool Servo System
摘要
Abstract
The motion accuracy of the fast tool servo(FTS)directly affects the machining quality of the non-circu-lar parts.In variable spindle speed machining,the period of the reference signal of the FTS is time-varying and un-certain,which poses a great challenge to achieve its asymptotic tracking.In this paper,we propose a composite con-trol design method based on spatial repetitive control and temporal velocity feedback stabilization for an FTS sys-tem,and present a digital implementation algorithm of the spatial modified-repetitive-controller(SMRC)to achieve high-precision tracking of time-varying periodic reference signals.First,an SMRC with the internal mode of the pos-ition-dependent time-varying periodic reference input signal is constructed,in which a phase-lead alignment seg-ment is used to compensate for the phase lag caused by the temporal stabilization controller.And based on this,a composite control law is established.Then,the stability criteria of the control system are derived using the small gain theorem and operator theory.A digital implementation algorithm of the SMRC is developed to ensure the syn-chronous execution of the SMRC and the temporal stabilization controller through a regular fixed time sampling.Finally,simulation results show that the designed FTS control system has satisfactory time-varying-period tracking performance and robustness.A comparison with other spatial repetitive control methods verifies that the proposed method achieves better performance in both transient and steady state aspects.关键词
快速刀具伺服/时变周期信号/重复控制/位置域/数字实现Key words
Fast tool servo(FTS)/time varying periodic signal/repetitive control/position domain/digital imple-mentation引用本文复制引用
周兰,杨秦,潘昌忠,肖文彬,李美柳..快速刀具伺服系统位置域重复控制设计及其数字实现[J].自动化学报,2024,50(7):1432-1444,13.基金项目
国家自然科学基金(62373145,62173138,62303179),湖南省重点研发计划项目(2023GK2027),湖南省自然科学基金(2021JJ30006,2023JJ40297,2023JJ40295),湖南省教育厅科研项目(21A0321,22B0468,22C0244),湖南省研究生科研创新项目(CX20221055)资助Supported by National Natural Science Foundation of China(62373145,62173138,62303179),the Key Research and Develop-ment Programs of Department of Science and Technology of Hunan Province(2023GK2027),the Natural Science Foundation of Hunan Province(2021JJ30006,2023JJ40297,2023JJ40295),the Scientific Research Fund of Hunan Provincial Education Department(21A0321,22B0468,22C0244),and the Graduate Scientific Research Innovation Project of Hunan Province(CX20221055) （62373145,62173138,62303179）
