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外文翻译--激光切割机的传动控制可变结构系统.doc

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外文翻译--激光切割机的传动控制可变结构系统.doc

徐州工程学院毕业设计外文翻译学生姓名学院名称机电工程学院专业名称机械设计制造及其自动化指导教师VSSmotioncontrolforalasercuttingmachineAles\Hace,KarelJezernik,MartinTerbucUniversityofMaribor,FacultyofElectricalEngineeringandComputerSciences,InstituteofRobotics,Smetanovaul.17,SI2000Maribor,SloveniaReceived18October1999accepted2June2000AbstractAnadvancedpositiontrackingcontrolalgorithmhasbeendevelopedandappliedtoaCNCmotioncontrollerinalasercuttingmachine.Thedrivetrainsofthelasercuttingmachinearecomposedofbeltdrives.Theelasticservomechanismcanbedescribedbyatwomasssysteminterconnectedbyaspring.Owingtothepresenceofelasticity,frictionanddisturbances,theclosedloopperformanceusingaconventionalcontrolapproachislimited.Therefore,themotioncontrolalgorithmisderivedusingthevariablesystemstructurecontroltheory.Itisshownthattheproposedcontroleectivelysuppressesthemechanicalvibrationsandensurescompensationofthesystemuncertainties.Thus,accuratepositiontrackingisguaranteed.2001ElsevierScience¸td.Allrightsreserved.KeywordsPositioncontrolDrivesServomechanismsVibrationsVariablestructurecontrolChatteringDisturbancerejectionRobustcontrol1.IntroductionFormanyindustrialdrives,theperformanceofmotioncontrolisofparticularimportance.Rapiddynamicbehaviourandaccuratepositiontrajectorytrackingareofthehighestinterest.Applicationssuchasmachinetoolshavetosatisfythesehighdemands.Rapidmovementwithhighaccuracyathighspeedisdemandedforlasercuttingmachinestoo.ThispaperdescribesmotioncontrolalgorithmforalowcostlasercuttingmachinethathasbeenbuiltonthebaseofaplanarCartesiantablewithtwodegreesoffreedomFig.1.Thedrivetrainsofthelasercuttingmachinearecomposedofbeltdriveswithatimingbelt.Theuseoftimingbeltsinthedrivesystemisattractivebecauseoftheirhighspeed,highefficiency,longtravellengthsandlowcostHaus,1996.Ontheotherhand,theyyieldmoreuncertaindynamicsandahighertransmissionerrorKagotani,KoyamaUeda,1993.Consequently,beltdrivessufferfromlowerrepeatabilityandaccuracy.Moreover,thebeltdrivedynamicsincludemoreresonancefrequencies,whichareadestabilisingfactorinafeedbackcontrolMoon,1997.Therefore,aconventionalcontrolapproachlikePI,PDorPIDcontrolfailstoachieveacceptableperformance.Plantparametervariations,uncertaindynamicsandloadtorquedisturbances,aswellasmechanicalvibrations,arefactorsthathavetobeaddressedtoguaranteerobustsystemstabilityandthehighperformanceofthesystem.Anadvancedrobustmotioncontrolschemeisintroducedinthispaper,whichdealswiththeissuesrelatedtomotioncontrolofthedriveswithtimingbelts.ThecontrolschemeisdevelopedonthebasisofthemotioncontrolalgorithmintroducedbyJezernik,CurkandHarnik1994.Itpossessesrobustpropertiesagainstthedisturbancesthatareassociatedwithanominalplantmodel,asithasbeendevelopedwiththeuseofthevariablestructuresystemVSStheoryUtkin,1992.Thecrucialpartofthecontrolschemeistheasymptoticdisturbanceestimator.However,asshowninthispaper,itfailstostabiliseresonantbeltdynamics,sinceitwasdevelopedforarigidrobotmechanism.Therefore,thispaperintroducesanimprovedmotioncontrolscheme,whichsuppressesthevibrationsthatwouldariseduetothenonrigid,elasticdrive.Consequently,arapidresponsewithlowpositiontrackingerrorisguaranteed.Thepaperissetoutasfollows.ThelasercuttingmachineispresentedandthecontrolplantmodelofthemachinedrivesisdevelopedinSection2.InSection3,theVSScontrolregardingtheelasticservomechanismisdiscussedandthederivationofthemotioncontrolschemeisdescribed.Section4presentstheexperimentalresultsandafollowupdiscussion.ThepaperissummarizedandconcludedinSection5.2.Thecontrolplant2.1.ThemachinedescriptionThelasercuttingmachineconsistsoftheXYhorizontaltableandalasersystemFig.1.Thefundamentalcomponentsofthelasersystemare●thepowersupplyunit,whichisplacedoffthetableandthusisnotconsideredinthemotioncontroldesign●thelaserbeamsource,whichgeneratesthelaserbeamthelasergenerator●thelaserhead,whichdirectsthelaserbeamontothedesiredpositioninthecuttingplane.Fig.1.Themachineandthecontrollerhardware.Thetablehastomoveandpositionthelaserheadinahorizontalplane.Thisisachievedbythemeansofadrivesystemwithtwoindependentmotionaxes.TheyprovidemovementalongtheCartesiansXYaxesof2and1m,respectively.TheXdriveprovidesthemotionofthelaserheadinXdirection.Thedriveandthelaserheadaswellasthelasergeneratorareplacedonthebridgetoensureahighqualityopticalpathforthelaserbeam.ThemovementofthebridgealongtheYaxisisprovidedbytheYdrive.ThelaserheadrepresentstheXdriveload,whiletheYdriveisloadedbythebridge,whichcarriesthecompleteXdrivesystem,thelaserhead,andthelasergenerator.Theloadsslideoverthefrictionlessslidesurface.Thepositioningsystemconsistsofthemotioncontroller,theamplifiers,theDCmotorsandthedrivetrains.TheXdrivetrainiscomposedofagearboxandabeltdriveFig.2.Thegearboxreducesthemotorspeed,whilethebeltdriveconvertsrotarymotionintolinearmotion.Thebeltdriveconsistsofatimingbeltandoftwopulleysadrivingpulleyandadrivenpulleythatstretchthebelt.TheYdrivetrainismorecomplex.Theheavybridgeisdrivenbytwoparallelbeltdriveseachbridgesideisconnectedtooneofthebeltdrives.Thedrivingpulleysofthebeltdrivesarelinkedtothedrivingaxis,whichisdrivenviatheadditionalbeltdriveandthegearboxisusedtoreducethespeedofthemotor.

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