外文翻譯--激光切割機(jī)的傳動(dòng)控制可變結(jié)構(gòu)系統(tǒng)-免費(fèi)閱讀
【正文】 傳動(dòng)控制變可變結(jié)構(gòu)系統(tǒng)控制 設(shè)計(jì)。本文提出控制算法根據(jù)詰責(zé)尼克提出的 傳動(dòng)控制變可變結(jié)構(gòu)系統(tǒng)控制 運(yùn)動(dòng)控制理論被發(fā)現(xiàn)了。因?yàn)檠b置具有的主導(dǎo)動(dòng)力學(xué)之間插入物理輸入和控制器的輸出。為避免與為建模動(dòng)力學(xué)和震動(dòng)有關(guān)的不連續(xù)反饋控制相關(guān)的問(wèn)題不再是至關(guān)重要的。在這種情況下 ,傳統(tǒng)的連續(xù)時(shí)間 /不連續(xù) 傳動(dòng)控制變可變結(jié)構(gòu)系統(tǒng)控制 方法可以得到了成功的應(yīng)用。 傳動(dòng)控制變可變結(jié)構(gòu)系統(tǒng) 保證了不確定模型系統(tǒng)的魯棒穩(wěn)定性 ,即它已被證明在 傳動(dòng)控制變可變結(jié)構(gòu)系統(tǒng) 理論 ,就是閉合回路決定于移動(dòng)方式的選擇。描述了動(dòng)力式（ 1。 皮帶的延展由于正時(shí)帶的固有彈性。 帶傳動(dòng)模型 可用一個(gè)多質(zhì)子系統(tǒng)仿制帶傳動(dòng)機(jī)構(gòu)采用模態(tài)分析。其次 ,控制器設(shè)計(jì)應(yīng)充分地應(yīng)對(duì)多諧振峰值的大幅下降直到保持系統(tǒng)的穩(wěn)定性的情況下的高 階共振。每個(gè)橋面都連接到其中一個(gè)傳動(dòng)帶上。激光頭代表 X驅(qū)動(dòng)的負(fù)荷 , 它負(fù)載了全部 X驅(qū)動(dòng)系統(tǒng)，包括激光頭和激光器，而 Y驅(qū)動(dòng)由電機(jī)來(lái)負(fù)載。 .機(jī)床的描述 激光切割機(jī)包括 XY工作臺(tái)和激光系統(tǒng)（如圖 1）。 然而 ,就像文章指出 , 因?yàn)槭菫閯傂詸C(jī)器人機(jī)制而研制的故不是穩(wěn)定諧振帶動(dòng)力學(xué)。因此 ,傳動(dòng)帶遭受較低的重復(fù)性和準(zhǔn)確性。 簡(jiǎn)介： 對(duì)許多工業(yè)驅(qū)動(dòng)器，運(yùn)動(dòng)控制的性能具有非常重要性。 Sakamoto, 1994). Jezernik has developed a control algorithm for a rigid robot mechanism by bining conventional VSS theory and the disturbance estimation approach. However, the rigid body assumption, which neglects the presence of distributed or concentrated elasticity, can make that control input frequencies of the switcher excite neglected resonant modes. Furthermore, in discretetime systems discontinuous control fails to ensure the sliding mode and has to be replaced by continuous control (Young et al., 1999). Avoiding discontinuousfeedback control issues associated with unmodelled dynamics and related chattering are no longer critical. Chattering bees a nonissue. In plants where control actuators have limited bandwidth there are two possibilities: actuator bandwidth is outside the required closedloop bandwidth, or, the desired closedloop bandwidth is beyond the actuator bandwidth. In the fist case, the actuator dynamics are to be considered as the nonmodelled dynamics. Consequently, the sliding mode using discontinuous VSS control cannot occur, because the control plant input is continuous. Therefore, the disturbance estimation approach is preferred rather than VSS disturbance rejection. In the second case, the actuator dynamics are to be lumped together with the plant. The matching conditions (Draz\enovicH, 1969) for disturbance rejection and insensitivity to parameter variations in the sliding mode are violated. This results from having dominant dynamics inserted between the physical input to the plant and the controller output. When unmatched disturbances exist the VSS control cannot guarantee the invariant sliding motion. This restriction may be relaxed by introducing a highorder sliding mode control in which the sliding manifold is chosen so that the associated transfer function has a relative degree larger than one (Fridman amp。 the driving side disturbance torque。 ●the inertia of the beltdrives39。 ● the laserbeam source, which generates the laser beam (the lasergenerator)。 Drives。 Servomechanisms。 ●the laserhead, which directs the laser beam onto the desired position in the cutting plane. Fig. 1. The machine and the controller hardware. The table has to move and position the laser head in a horizontal plane. This is achieved by the means of a drive system with two independent motion axes. They provide movement along the Cartesians39。 driven pulleys is negligible in parison to other ponents of the drive system. Using the assumptions above, dynamic modeling could be reduced to a twomass model of the beltdrives that only includes the first resonance. In the control design, the uncertain positioning of the load due to the low repeatability and accuracy of the beltdrive has to be considered as well. Note, that no attention is paid to the coupled dynamics of the Ydrive due to the parallel driving, thus, the double beltdrive is considered as an equivalent single beltdrive. . The beltdrive model The beltdrives could be modelled as a multimass system using modal analysis. In the beltdrive model with concentrated parameters, linear, massless springs characterize the elasticity of the belt. According to the assumptions above, a twomass model can be obtained. The drivingpulley, motor shaft and the speed reducer are considered as the concentrated inertia of the driving actuator. The drivenpulley and the load are concentrated in the load mass. The inertia and the mass are linked by a spring. Friction present in the motor bearings, the gearbox, the beltdrive, and nonmodelled higherorder dynamics are considered as an unknown disturbance that affects the driving side as well as the load side. The mechanical model of the twomass system and its bloc
公司管理相關(guān)推薦
鄂ICP備17016276號(hào)-1