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title="數(shù)控文章" href="/bethel/news">數(shù)控文章</a></li> </ol> </nav> </div> <!--/sub_menu--><!-- 面包屑導(dǎo)航結(jié)束 --> <!-- 頁面標(biāo)題開始 --> <div id="n1l1njb9b" class="title"> <h3><a>非線性雙電磁懸浮系統(tǒng)交叉耦合同步控制<small></small></a></h3> </div> <!-- 頁面標(biāo)題結(jié)束 --> <hr class="featurette-divider"> <!-- 中部開始 --> <div id="n1l1njb9b" class="container"> <!-- 正文 --> <div id="n1l1njb9b" class="lead" id="print"> <p> <a name="bookmark17" style="line-height: 13pt; text-align: justify; text-indent: 0cm; background-color: transparent;"><span style="font-family: SimSun;">3.<span style="font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';"> </span></span><span id="n1l1njb9b" class="20">3非線性雙電磁懸浮系統(tǒng)交叉耦合同步控制</span></a></p> <div id="n1l1njb9b" class="Section1"> <p class="21" style="margin-top:0cm;margin-right:0cm;margin-bottom:7.75pt; margin-left:0cm;text-align:justify;text-justify:inter-ideograph;text-indent: 0cm;line-height:11.0pt;mso-line-height-rule:exactly;mso-list:l1 level1 lfo2; tab-stops:14.45pt;background:transparent"><!--[if !supportLists]--><span style="font-family: SimSun;">3.<span style="font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';"> </span></span><!--[endif]--><span id="n1l1njb9b" class="2"><span style="font-family: SimSun;">3. </span></span><span id="n1l1njb9b" class="2">1氣隙、速度雙重交叉耦合同步控制</span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:26.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"><span id="n1l1njb9b" class="2">在龍門數(shù)控加工系統(tǒng)中無論是針對單電磁懸浮系統(tǒng)的控制還是多電磁懸浮系統(tǒng) 的控制，其控制目標(biāo)就是為了減小電磁懸浮氣隙的輸出與給定之間的偏差，即電磁懸 浮系統(tǒng)的實際輸出的氣隙與設(shè)定的氣隙之間的偏差。懸浮氣隙的偏差是導(dǎo)致部件精度 下降的重要原因之一。由多電磁懸浮系統(tǒng)加工出來的部件其精度的高低是由多電磁懸 浮系統(tǒng)協(xié)調(diào)決定的。如果只是相對獨立的對各個單電磁懸浮系統(tǒng)的誤差進行控制而不 考慮其它電磁懸浮氣隙的情況以及整體的運行情況，那么加工出的部件就會存在很大 的誤差，尤其是在高速的情況下運行，當(dāng)不同的電磁懸浮系統(tǒng)參數(shù)不一致時會因此導(dǎo) 致兩個系統(tǒng)不同步，使得加工出來的部件發(fā)生了形變。</span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:26.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"><span id="n1l1njb9b" class="2">基于此種情況考慮，一種自然而然的想法就是每一個單電磁懸浮系統(tǒng)的控制器不 僅僅只接收本電磁懸浮系統(tǒng)氣隙偏差量，還需要實時接收其它電磁懸浮系統(tǒng)的氣隙偏 差以使本電磁懸浮氣隙與其它電磁懸浮系統(tǒng)的氣隙協(xié)調(diào)同步。這就是交叉耦合同步控 制器的設(shè)計理念。</span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:26.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"><span id="n1l1njb9b" class="2">所謂的交叉耦合同步控制，通常情況下由兩部分構(gòu)成，第一部分是實時計算懸浮 氣隙誤差的計算模塊，第二部分則是將所計算得到的控制器輸出量按照設(shè)定的關(guān)系分 別補償?shù)礁鲉坞姶艖腋∠到y(tǒng)的控制器中。懸浮氣隙分配控制器可以改善各電磁懸浮系 統(tǒng)參數(shù)不匹配以及橫梁移動不協(xié)調(diào)等諸多情況，并對外界的干擾有抑制的作用。因此, 對多電磁懸浮系統(tǒng)的同步控制通常會考慮采用交叉耦合同步控制方法及其改進方法 來對誤差進行綜合補償。其核心原理是通過各獨立電磁懸浮系統(tǒng)反饋回來的懸浮氣 隙，實時計算懸浮氣隙誤差的大小，通過設(shè)計控制器產(chǎn)生補償誤差的控制信號，然后 按照設(shè)定的關(guān)系將控制信號分配給各個電磁懸浮系統(tǒng)的控制器上，從而達到減小懸浮 氣隙同步誤差和提高獨立系統(tǒng)定位控制精度的目的。從控制理論的角度來說，交叉耦 合同步誤差補償方法改善系統(tǒng)定位精度的本質(zhì)就是：將開環(huán)的懸浮氣隙控制轉(zhuǎn)化為閉 環(huán)的懸浮氣隙控制。而閉環(huán)控制相對于開環(huán)控制的優(yōu)點在于降低了穩(wěn)態(tài)誤差和提高了 控制精度<sup>[32]</sup>。</span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:26.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"><span id="n1l1njb9b" class="2">由于機械連接的緣故系統(tǒng)處于啟動動態(tài)過程以及進入穩(wěn)態(tài)后橫梁一端受到擾動</span><span id="n1l1njb9b" class="2">時都會使兩個電磁懸浮系統(tǒng)產(chǎn)生耦合關(guān)系。穩(wěn)態(tài)情況下受到擾動后其中一個系統(tǒng)的懸</span>浮氣隙就會變大或變小，同時另外一個電磁懸浮氣隙也會相應(yīng)的發(fā)生改變，這樣就是 耦合關(guān)系。當(dāng)橫梁旋轉(zhuǎn)一個很小的角度時可以通過數(shù)學(xué)建模找到兩個電磁懸浮氣隙之 間的耦合關(guān)系。推導(dǎo)出耦合關(guān)系后在利用機械耦合強迫性的基礎(chǔ)上設(shè)計交叉耦合控制 器來改善雙電磁懸浮系統(tǒng)的同步性能。為了使龍門橫梁懸浮氣隙能夠穩(wěn)定在給定值， 采用的是氣隙交叉耦合同步控制方法，一方面可以減小氣隙之間的同步誤差，另外還 可以降低懸浮系統(tǒng)的阻尼。如果單獨使用氣隙交叉耦合會使磁懸浮系統(tǒng)過于單調(diào)容易 產(chǎn)生弊端。由于磁懸浮系統(tǒng)速度信號是阻尼的主要來源，所以又增加了速度交叉耦合 同步控制。</p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:26.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"> <st1:chsdate year="1899" month="12" day="30" islunardate="False" isrocdate="False" w:st="on" style="background-color: transparent;"><span id="n1l1njb9b" class="39"><span style="font-family: SimSun;">3. 3. </span></span><span id="n1l1njb9b" class="39">2</span></st1:chsdate><span id="n1l1njb9b" class="39" style="background-color: transparent;">氣隙穩(wěn)態(tài)誤差計算</span></p> <p class="390" style="text-align:justify;text-justify:inter-ideograph;line-height: 27.1pt;mso-line-height-rule:exactly;tab-stops:71.3pt 103.0pt;background:transparent"><span id="n1l1njb9b" class="39">由上一小節(jié)知為了使龍門橫梁能夠穩(wěn)定地懸浮在給定的高度本系統(tǒng)采用氣隙、速 度雙重交叉耦合同步控制。獨立系統(tǒng)采用</span><span id="n1l1njb9b" class="39TimesNewRoman"><span lang="EN-US">PID</span></span><span id="n1l1njb9b" class="39">控制。</span></p> <p class="390" align="left" style="margin-left: 26pt; line-height: 27.1pt; background: transparent;"><span id="n1l1njb9b" class="39">上式證明了速度、氣隙雙重交叉耦合同步控制器達到了減小同步誤差的目的。 由式</span><span id="n1l1njb9b" class="39">（</span><span id="n1l1njb9b" class="39"><span style="font-family: SimSun;">3.11)</span></span><span id="n1l1njb9b" class="39">可知增大交叉耦合控制量炱可以減小同步，但如果乾過大會使系統(tǒng)</span></p> <p class="390" style="margin-bottom:10.45pt;text-align:justify;text-justify:inter-ideograph; line-height:11.0pt;mso-line-height-rule:exactly;background:transparent"><span id="n1l1njb9b" class="39">不穩(wěn)定產(chǎn)生震蕩，因此需要選擇合理的交叉耦合控制量。</span></p> <p class="MsoNormal"><span style="font-size:9.0pt;font-family:宋體;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman"">本文采摘自“數(shù)控加工中心龍門磁懸浮系統(tǒng)耦合分析及控制研究”，因為編輯困難導(dǎo)致有些函數(shù)、表格、圖片、內(nèi)容無法顯示，有需要者可以在網(wǎng)絡(luò)中查找相關(guān)文章！本文由伯特利數(shù)控整理發(fā)表文章均來自網(wǎng)絡(luò)僅供學(xué)習(xí)參考，轉(zhuǎn)載請注明！</span><span lang="EN-US" style="font-size:9.0pt"> <o:p></o:p></span> </p> </div></div> <div id="n1l1njb9b" class="blank30"></div> <!-- tag --> <div id="n1l1njb9b" class="blank10"></div> 標(biāo)簽： <a href='/index.php?case=tag&act=show&tag=%E9%BE%99%E9%97%A8%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>龍門加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>數(shù)控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <!-- 分類 --> <div id="n1l1njb9b" class="blank10"></div> 分類： <a href='/bethel/type/jnc/type-1.html' target='_blank'>加工中心</a> <div 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