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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 class="20">3非线性双电磁悬浮系统交叉耦合同步控制</span></a></p> <div 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 class="2"><span style="font-family: SimSun;">3. </span></span><span class="2">1气隙、速度双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 class="2">在龙门数控加工系统中无论是针对单电磁悬浮系统的控制还是多电磁悬浮系统 的控制，其控制目标就是为了减小电磁悬浮气隙的输出与给定之间的偏差，即电磁悬 浮系统的实际输出的气隙与设定的气隙之间的偏差。悬浮气隙的偏差是导致部件精度 下降的重要原因之一。由多电磁悬浮系统加工出来的部件其精度的高低是由多电磁悬 浮系统协调决定的。如果只是相对独立的对各个单电磁悬浮系统的误差进行控制而不 考虑其它电磁悬浮气隙的情况以及整体的运行情况，那么加工出的部件就会存在很大 的误差，尤其是在高速的情况下运行，当不同的电磁悬浮系统参数不一致时会因此导 致两个系统不同步，使得加工出来的部件发生了形变。</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 class="2">基于此种情况考虑，一种自然而然的想法就是每一个单电磁悬浮系统的控制器不 仅仅只接收本电磁悬浮系统气隙偏差量，还需要实时接收其它电磁悬浮系统的气隙偏 差以使本电磁悬浮气隙与其它电磁悬浮系统的气隙协调同步。这就是交叉耦合同步控 制器的设计理念。</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 class="2">所谓的交叉耦合同步控制，通常情况下由两部分构成，第一部分是实时计算悬浮 气隙误差的计算模块，第二部分则是将所计算得到的控制器输出量按照设定的关系分 别补偿到各单电磁悬浮系统的控制器中。悬浮气隙分配控制器可以改善各电磁悬浮系 统参数不匹配以及横梁移动不协调等诸多情况，并对外界的干扰有抑制的作用。因此, 对多电磁悬浮系统的同步控制通常会考虑采用交叉耦合同步控制方法及其改进方法 来对误差进行综合补偿。其核心原理是通过各独立电磁悬浮系统反馈回来的悬浮气 隙，实时计算悬浮气隙误差的大小，通过设计控制器产生补偿误差的控制信号，然后 按照设定的关系将控制信号分配给各个电磁悬浮系统的控制器上，从而达到减小悬浮 气隙同步误差和提高独立系统定位控制精度的目的。从控制理论的角度来说，交叉耦 合同步误差补偿方法改善系统定位精度的本质就是：将开环的悬浮气隙控制转化为闭 环的悬浮气隙控制。而闭环控制相对于开环控制的优点在于降低了稳态误差和提高了 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 class="2">由于机械连接的缘故系统处于启动动态过程以及进入稳态后横梁一端受到扰动</span><span class="2">时都会使两个电磁悬浮系统产生耦合关系。稳态情况下受到扰动后其中一个系统的悬</span>浮气隙就会变大或变小，同时另外一个电磁悬浮气隙也会相应的发生改变，这样就是 耦合关系。当横梁旋转一个很小的角度时可以通过数学建模找到两个电磁悬浮气隙之 间的耦合关系。推导出耦合关系后在利用机械耦合强迫性的基础上设计交叉耦合控制 器来改善双电磁悬浮系统的同步性能。为了使龙门横梁悬浮气隙能够稳定在给定值， 采用的是气隙交叉耦合同步控制方法，一方面可以减小气隙之间的同步误差，另外还 可以降低悬浮系统的阻尼。如果单独使用气隙交叉耦合会使磁悬浮系统过于单调容易 产生弊端。由于磁悬浮系统速度信号是阻尼的主要来源，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 class="39"><span style="font-family: SimSun;">3. 3. </span></span><span class="39">2</span></st1:chsdate><span class="39" style="background-color: transparent;">气隙稳态误差计算</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 class="39">由上一小节知为了使龙门横梁能够稳定地悬浮在给定的高度本系统采用气隙、速 度双重交叉耦合同步控制。独立系统采用</span><span class="39TimesNewRoman"><span lang="EN-US">PID</span></span><span class="39">控制。</span></p> <p class="390" align="left" style="margin-left: 26pt; line-height: 27.1pt; background: transparent;"><span class="39">上式证明了速度、气隙双重交叉耦合同步控制器达到了减小同步误差的目的。 由式</span><span class="39">（</span><span class="39"><span style="font-family: SimSun;">3.11)</span></span><span class="39">可知增大交叉耦合控制量炱可以减小同步，但如果乾过大会使系统</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 class="39">不稳定产生震荡，因此需要选择合理的交叉耦合控制量。</span></p> <p class="MsoNormal"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman"">本文采摘自“数控加工中心龙门磁悬浮系统耦合分析及控制研究”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span><span lang="EN-US" style="font-size:9.0pt"> <o:p></o:p></span> </p> </div></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <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'>龙门加工中心</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 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href="/bethel/5-aix/show-2959.html" target="_blank">五轴加工中心和五轴钻攻中心在机测量探头补</a></h4> <p>在机测量技术由于其成本低、检测效率高、无需二次装夹等优势被广泛用于零件加工测量当中，使得五轴加工中心和五轴钻攻中心，同时又兼具测量功能。在机测量系统的构成如图1所示，硬件部分主要是由高精度探头、信号接收器、机床整个本体，软件部分由机床控制系统、测量软件等组成[8]。待零件加工完成… <a href="/bethel/5-aix/show-2959.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="五轴加工中心进给系统动态误差影响因素" href="/bethel/5-aix/show-2958.html" target="_blank">五轴加工中心进给系统动态误差影响因素</a></h4> <p>加工精度是影响机床性能和产品质量的主要难题，也是制约国家精密制造能力的重要因素。本文以五轴加工中心为对象，针对提升机床精度进行了研究。并且随着科技的发展，精密的仪器和零件在生产实践中占据的分量逐渐增加，在数控机床这种精密机器精度不断提高的同时，必须控制内外界环境的随机影响因素在… <a href="/bethel/5-aix/show-2958.html" target="_blank">[了解更多]</a></p> </div> <!-- 内容列表结束 --> </div> <!-- 相关文章结束 --> <!-- 页底推荐图文产品开始 --> <hr class="featurette-divider"> <!-- 页面标题开始 --> <div class="title"> <h3 class="wow bounceInDown" data-wow-delay="0.5s"><a href="/bethel/cnc">产品中心<small></small></a></h3> <span>——</span> 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