【正文】 k scheme are shown in Figs. 3 and 4, respectively. The beltstretch occurs due to the inherent elasticity of the timing belts. However, according to a vibration analysis of beltdrives (Abrate, 1992), the obtained model could be rearranged. Assume the unit transmission constant (L=1). Then, the control plant model is presented by Fig. 5. The control plant consists of two parts connected in a cascaded structure. The first part is described by poorly damped dynamics due to the elastic belt. The second part consists of the loadside dynamics. The beltstretch τ forced by the applied torque q. The dynamics are described by Eq. (1) （ 1） where Hw(s) denotes the beltstretch dynamics transfer function， （ 2） and is the natural resonant frequency （ 3） and is hte disturbance that affects the belt. The loadside dynamics are （ 4） (4) where Fw denotes the force, which drives the load （ 5） Fig. 3. The mechanical model of the elastic drive. M is the load side mass。 the load side disturbance force。 Levant, 1996). Such a control scheme has been used in a number of recently developed VSS control designs, . in Bartolini, Ferrara and Usai (1998). In the latter, the secondorder sliding mode control is invoked to create a dynamical controller that eliminates the chattering problem by passing discontinuous control action onto a derivative of the control input. The system to be controlled is given by Eqs. (1) ―(5) and the system output is the load position. The control objective is the position trajectory tracking. The control algorithm that is proposed in this paper has been developed following the idea of the VSS motion control presented by Jezernik. Since the elastic beltdrive behaves as a low bandwidth actuator, the conventional VSS control algorithm failed to achieve the prescribed control objective. Thus, the robust position trajectory tracking control algorithm presented in the paper has been derived using secondorder sliding mode control. In order to eliminate the chattering problem and preserve robustness, the control algorithm uses the continuous control law. Following the VSS disturbance estimation approach, it will be shown that the disturbance estimation feature of the proposed motion control algorithm is similar to the control approach of Jezernik (Jezernik et al., 1994). Additionally, the proposed control algorithm considers the actuator dynamics in order to reshape the poorly damped actuator bandwidth. Consequently, the proposed motion controller consists of a robust positiontracking controller in the outer loop and a vibration controller in the inner loop (Fig. 6). This section is anized as follows. Section presents the proposed VSS control design. Section describes the derivation of the robust position provides a description of the vibration controller. Finally, the proposed control scheme is described in Section . 激光切割機(jī)的傳動控制可變結(jié)構(gòu)系統(tǒng) 艾力斯?霍斯，卡瑞爾?詰責(zé)尼克，馬丁?特布 馬里博爾大學(xué)機(jī)器人學(xué)學(xué)院電氣工程系和計算機(jī)科學(xué)系 截稿于 1999 年 10 月 18日，出版與 2020 年 6月 2 日 . 內(nèi)容摘要﹕ 一種先進(jìn)的位置跟蹤控制算法已經(jīng)研制出來了， 并將其應(yīng)用在 激光切割機(jī)的數(shù)控運(yùn)動控制器上 。最高的利益是快速動態(tài)行為與準(zhǔn)確軌跡跟蹤。此外 ,帶傳動動力學(xué)包括很多諧振頻率，即反饋控制中的不穩(wěn)定因素。因此 ,介紹了一種改進(jìn)后的會出現(xiàn)非剛性、彈性傳動的振動運(yùn)動控制方案。 激光系統(tǒng)的基本組成 ﹕ ●因此沒有考慮運(yùn)動控制設(shè)計所以 電源設(shè)備被放置 在后臺﹔ ● 激光束 來源 即產(chǎn)生激光束 (激光器 ) ﹔ ● 激光頭即引導(dǎo)激光到理想的剖切面 。 這些負(fù)載在無阻力的滑動面滑過。傳動機(jī)構(gòu)通過減少馬達(dá)的速度的傳動帶驅(qū)動和變速箱來帶動 的主動輪與傳動系聯(lián)系。因此 ,根據(jù)信號分析與驅(qū)動裝置的特點(diǎn) ,假設(shè)可制定為如下 : ●在電流控制方式里直流伺服系統(tǒng)的運(yùn)作確保在電機(jī)軸上有一個忽略的時 間常數(shù)的高動態(tài)扭矩。 在帶傳動機(jī)構(gòu)模型有著集中參數(shù)的、線性的、無質(zhì)量的彈簧表示履帶的彈性。但是 ,根據(jù)傳動機(jī)構(gòu)的振動分析 ,所得到的模型能夠調(diào)整。 （ 1） Hw(s)表示帶張力動力學(xué)的傳遞函數(shù) （ 2） 是自然共振頻率 （ 3） 是帶的阻力。 傳動控制變可變結(jié)構(gòu)系統(tǒng) 的目標(biāo)控制設(shè)計是找到一個控制輸入 ,這樣的運(yùn)動系統(tǒng)的狀態(tài)僅局限于滑動方式。然而 ,在很多不連續(xù) 傳動控制變可變結(jié)構(gòu)系統(tǒng) 的控制應(yīng)用程序都失敗了還發(fā)生震動。震動是一個不重要的問題。當(dāng)為抵消的干擾存在于 傳動控制變可變結(jié)構(gòu)系統(tǒng) 不能保證不變滑模面。因為彈性傳動機(jī)構(gòu)和制動器的帶寬很相像所以 傳統(tǒng)的 傳動控制變可變結(jié)構(gòu)系統(tǒng)控制 算法未能實(shí)現(xiàn)規(guī)定的控制目標(biāo)。第 。這部分被安排在如下章節(jié)里?？?