【正文】 制目標(biāo)是位置的軌跡跟蹤。在滑膜里與抑制擾動(dòng)和靈敏度的參數(shù)的變化相一致的情況是違反的。此外 ,在離散系統(tǒng)里的不連續(xù)控制不能保證滑模面 ,取而代之的是采用連續(xù)控制?？刂齐姍C(jī)驅(qū)動(dòng)電源轉(zhuǎn)換裝置是正常的。 圖 5是控制裝置的方框圖 由于錯(cuò)誤的不確定的結(jié)構(gòu)化和非結(jié)構(gòu)化的的控制模型的要求 ,提出了一種魯棒控制律 。帶延伸 τ 被迫通過應(yīng)用扭矩 q。輪 車架系統(tǒng)的力學(xué)模型系 統(tǒng)及其方案分別顯示在圖 3和圖 4。 沒有注意到的 耦合的動(dòng)力學(xué) Y軸傳動(dòng)由于平行傳動(dòng) ,因此 ,雙履帶傳動(dòng)可看成同級(jí)別的單履帶傳動(dòng)。換句話說 ,控制設(shè)備的設(shè)計(jì)模型將密切配合真正系統(tǒng)頻率響應(yīng)直到第一階共振。沉重的橋接器由兩條平行傳動(dòng)帶驅(qū)動(dòng) 。 Y軸運(yùn)動(dòng)是由 Y傳動(dòng)提供的。摘要在第五部分總結(jié)和歸納了。漸近線的擾動(dòng)的估算是控制方案的關(guān)鍵的部分。另一方面 ,他們產(chǎn)生較多的不確定的動(dòng)態(tài)和更高的傳動(dòng)誤差。 因此 ,確保準(zhǔn)確的位置跟蹤 。 Kawamura, Itoh amp。 τ the motor shaft torque。 ●a rigid link between a motor shaft and a driving pulley of the beltdrive could be adopted。 Ueda, 1993). Consequently, beltdrives suffer from lower repeatability and accuracy. Moreover, the beltdrive dynamics include more resonance frequencies, which are a destabilising factor in a feedback control (Moon, 1997). Therefore, a conventional control approach like PI, PD or PID control fails to achieve acceptable performance. Plant parameter variations, uncertain dynamics and load torque disturbances, as well as mechanical vibrations, are factors that have to be addressed to guarantee robust system stability and the high performance of the system. An advanced robust motion control scheme is introduced in this paper, which deals with the issues related to motion control of the drives with timing belts. The control scheme is developed on the basis of the motion control algorithm introduced by Jezernik, Curk and Harnik (1994). It possesses robust properties against the disturbances that are associated with a nominal plant model, as it has been developed with the use of the variable structure system (VSS) theory (Utkin, 1992). The crucial part of the control scheme is the asymptotic disturbance estimator. However, as shown in this paper, it fails to stabilise resonant belt dynamics, since it was developed for a rigid robot mechanism. Therefore, this paper introduces an improved motion control scheme, which suppresses the vibrations that would arise due to the nonrigid, elastic drive. Consequently, a rapid response with low position tracking error is guaranteed. The paper is set out as follows. The lasercutting machine is presented and the control plant model of the machine drives is developed in Section 2. In Section 3, the VSS control regarding the elastic servomechanism is discussed and the derivation of the motion control scheme is described. Section 4 presents the experimental results and a followup discussion. The paper is summarized and concluded in Section 5. 2. The control plant . The machine description The lasercutting machine consists of the XY horizontal table and a laser system (Fig. 1). The fundamental ponents of the laser system are: ● the power supply unit, which is placed off the table and thus is not considered in the motion control design。td. All rights reserved.) Keywords: Position control。 Vibrations。 XY axes of 2 and 1m, respectively. The Xdrive provides the motion of the laserhead in Xdirection. The drive and the laserhead as well as the lasergenerator are placed on the bridge to ensure a highquality optical path for the laserbeam. The movement of the bridge along the Yaxis is provided by the Ydrive. The laserhead represents the Xdrive load, while the Ydrive is loaded by the bridge, which carries the plete Xdrive system, the laserhead, and the lasergenerator. The loads slide over the frictionless slide surface. The positioning system consists of the motion controller, the amplifiers, the DCmotors and the drive trains. The Xdrive train is posed of a gearbox and a beltdrive (Fig. 2). The gearbox reduces the motor speed, while the beltdrive converts rotary motion into linear motion. The beltdrive consists of a timing belt and of two pulleys: a driving pulley and a driven pulley that stretch the belt. The Ydrive train is more plex. The heavy bridge is driven by two parallel beltdrives。 J the driving side inertia。 the spring force and 184。激光切割機(jī)的 驅(qū)動(dòng) 機(jī)構(gòu) 是由帶傳動(dòng)機(jī)構(gòu)組成的。如應(yīng)用在機(jī)床必須滿足這些高的要求。因此 ,傳統(tǒng)的控制方法像比例積分控制、比例微分控制或 比例積分微分控制 未達(dá)到可接受的性能。因此 ,保證其低位置跟蹤誤差的快速反應(yīng)。 必須移坐標(biāo)軸且與放置激光頭在水平面里。 定位系統(tǒng)由運(yùn)動(dòng)控制器 ,放大器 ,直流電機(jī)與驅(qū)動(dòng)系統(tǒng)。 2 .2 假設(shè) 這臺(tái)機(jī)器驅(qū)動(dòng)代表一個(gè)復(fù)雜的非線性分布參數(shù)系統(tǒng)。 ●變速箱里的小間隙和取決于 應(yīng)用拉伸的正時(shí)帶 的帶傳動(dòng)機(jī)構(gòu)的間隙是可以忽略不計(jì)的。根據(jù)以上的假設(shè)條件 ,可以得到輪 車架系統(tǒng)模型。假設(shè)單位傳送值為常數(shù) (L= 1)。負(fù)載動(dòng)力公式是 （ 4） Fw傳動(dòng)負(fù)載的力