數(shù)控轉(zhuǎn)臺環(huán)形力矩電機直接驅(qū)動伺服系統(tǒng)的魯棒控制研究.pdf

1、沈陽工業(yè)大學碩士學位論文數(shù)控轉(zhuǎn)臺環(huán)形力矩電機直接驅(qū)動伺服系統(tǒng)的魯棒控制研究姓名：金石申請學位級別：碩士專業(yè)：電力電子與電力傳動指導(dǎo)教師：王成元孫宜標20070117數(shù)控轉(zhuǎn)臺琊形力矩電機崴接驅(qū)動伺服系統(tǒng)的魯棒控制研究StudyonRobustControlforNCRotaryTableRingTorqueMotorDirectDriveServoSystemAbstractBasedontheprojeetsupportedbyNati

2、onalNaturalScienceFoundationofChina“StudyonNumeficalControl(NC)MachineToolRotaryFeedingPrecisionDirectDriveTechniqueandItsControlStrategy’鹼do50375102)，forthecharacteristicoftheringpermanentmagnettorquemotorusedinthedirec

3、tdriveNCrotarytablescrvosystemsufferingfromtheeffectofparametersvariationsandexternalloaddisturbances＆robustcontroliscombinedwithothercontrolmethodsandtwocontrolstrategiesareproposedtoenhanceSelVOperformancesoftherotaryt

4、ablesysteminthisthesisInvariousNCrotarytables，thetraditionaldrivemode，whichisgenerallytherotatingservoelectricalmachinewi撒wormwheelwormpairandgearpairmechanismresultsinslowmotionresponse，baddynamicstiffnessandothernonlin

5、earerrorsduetomechanicaltransmissionchainthusitisverydifficulttoimplementhighpreciseprocessingTherotarytablesgrvosystemadoptingdirectdrivetechniqueisnomediumtransmission，andhaslargethrust，quickresponse，highdynamicstiffne

6、ssandpositionprecisionHowever，thesystemismoresensitivetouncertaintiessuchasloaddisturbancesandinertiavariations，whichgreatlyreducesservoperformancesDesigningasI琵vocontrollerisrequiredtoimproverobustnesstrackingperformanc

7、eanddynamicservostiffnessForrealsystems謝thcomplexcasessuchasuncertainties，allimportantcontrolstrategy，溉robustcontrolispresented。But磁controlisconservative，andconsidersnobustperformancebutrobuststabilityptheoryremediesthes

8、hortagesofH∞control，anditsimultaneitygivesaRentiontobuststabilityandrobustperformanceinsystemdesigns，yetithasslowconvergencespeedandlargecalculation，andisdifficultlyappliedtoactualprocessingsHenceartll∞speedcontrollerisd

9、esignedthroughcombiningIKdesignmethodologywithoutorthogonalityassumptionswithD—Kiterationin肛synthesisinthisthesisTheorthogonalityassumptionsisremovedtogreatlycondensetheupperboundofpvalueandteducethesearchingtimeandscope