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Research on Second Order Sliding Mode Control for Direct Drive NC Rotary Table Servo System

Author: JingYaZuo
Tutor: XiaJiaKuan；SunYiBiao
School: Shenyang University of Technology
Course: Control Theory and Control Engineering
Keywords: Direct Drive Second Order Sliding Mode Supercoiled algorithm Suboptimal algorithm Improved disturbance observer
CLC: TP273
Type: Master's thesis
Year: 2011
Downloads: 148
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Abstract


Direct drive multi-axis NC rotary table CNC machine tools in recent years, one of the hot research field , this paper national science and technology major projects and key projects of Science and Technology Department of Liaoning Province as a backdrop, NC rotary table with direct drive torque motor servo system ring as the research object . NC rotary direct drive technology for the characteristics of the servo system and the NC rotary table robustness and fast tracking performance requirements, the sliding mode control based on the combined order sliding mode observer and improved interference theories and methods to study the model parameter variations and load disturbances and many other uncertain factors on the CNC servo system performance. The main contents of the study are as follows: CNC servo system in analyzing the presence of various uncertainties , based on mainly on account of parameter variations and load disturbances and other uncertainties , proposed using second order sliding mode control as a direct drive NC rotary table servo system speed controller , speed controller designed sliding surface , the use of second-order sliding mode control algorithm to achieve supercoiled control law design , the algorithm does not need to know the time derivative of the sliding variable information . The strategy parameter variations and load disturbance has strong robustness , and can weaken the chattering . Especially for model uncertainty is large, especially to increase the load disturbance and uncertainty of the model parameters is large, in order to further improve the CNC servo system anti-jamming performance and fast tracking performance , this paper also discusses other One way to sliding mode control and improved disturbance observer method is applied to a combination of control CNC servo system . Second-order sliding mode control algorithm to design suboptimal servo system speed controller , the algorithm and the continuous control of the amount of the time derivative of sliding in a finite time approaches zero . And on this basis , the design of an improved disturbance observer , the load disturbance and model uncertainty can be compensated , the simulation results show that this method is effective to inhibit the model parameter variations and load disturbances and other uncertainties on the servo performance the impact of the fast track to improve the system performance .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system
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