立式直线驱动的配重波动建模与动态补偿抑制

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摘要针对直线电机立式驱动时受配重装置扰动而产生冲击的特点，提炼并归纳了引起冲击的配重平衡力波动和配重摩擦力波动因素；基于等熵一元绝热气流理论，构建了配重平衡力波动模型；利用Stribeck原理，构建了改进的配重摩擦力波动模型；通过永磁同步直线电机的电磁推力方程，设计了基于动态补偿器的配重扰动抑制方法；结合电流环双PID解耦与速度环模糊PID自适应参数整定，构建立式直线驱动控制系统。以电火花机主轴为例进行仿真和实验，结果表明驱动系统的速度波动和振动得到了有效的抑制，相比传统的控制方法位置和成形精度更高。

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	陈健1
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	王进1
	商永展1
	陆国栋1

关键词 ：立式直线驱动, 配重波动, 平衡力波动模型, 摩擦力波动模型, 动态补偿

Abstract：Considering the characteristics of vertical layout linear motor shock caused by the counterweight disturbance, two key fluctuation factors are extracted and summed up, which are balance force and friction force. Based on one-dimensional flow theory with isentropic adiabatic feature, balance-force fluctuation model is put forward. According to principle of Stribeck, the improved friction-force fluctuation model is also given. Considering the PMSLM＇s flux equation, the dynamic compensator method is developed to suppress the counterweight disturbance. Combining with the double PID uncoupling and fuzzy PID self-adaptive parameter adjustment, the spindle control system with vertical layout linear motor is set up. Simulation and experiment results show that the vibration and velocity fluctuation are significant suppressed, precision of position and molding is superior to the conventional control strategy.

Key words： linear motor with vertical layout counterweight fluctuation balance-force fluctuation model friction-force fluctuation model dynamic compensation

收稿日期: 2014-01-02 出版日期: 2015-05-15

引用本文:

陈健1，2，王进1，商永展1，陆国栋1. 立式直线驱动的配重波动建模与动态补偿抑制[J]. 振动与冲击, 2015, 34(9): 202-209.
CHEN Jian1，2， WANG Jin 1， SHANG Yong-zhang1，LU Guo-dong1. Dynamic Compensation Suppression and Fluctuation Modeling of Counterweight Disturbance for Linear Motor with Vertical Layout. JOURNAL OF VIBRATION AND SHOCK, 2015, 34(9): 202-209.

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http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2015/V34/I9/202

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