數(shù)控轉(zhuǎn)臺(tái)環(huán)形力矩電機(jī)直接驅(qū)動(dòng)伺服系統(tǒng)的魯棒控制研究.pdf

1、沈陽工業(yè)大學(xué)碩士學(xué)位論文數(shù)控轉(zhuǎn)臺(tái)環(huán)形力矩電機(jī)直接驅(qū)動(dòng)伺服系統(tǒng)的魯棒控制研究姓名：金石申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：電力電子與電力傳動(dòng)指導(dǎo)教師：王成元孫宜標(biāo)20070117數(shù)控轉(zhuǎn)臺(tái)琊形力矩電機(jī)崴接驅(qū)動(dòng)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