高频响伺服刀架的建模与控制

李国平; 孙涛; 邱辉; 陈彬

doi:10.3788/OPE.20162408.1991

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高频响伺服刀架的建模与控制

微纳技术与精密机械 | 更新时间：2020-07-07

- 高频响伺服刀架的建模与控制
- Model and control of high-frequency response servo tool
- Editorial Office of Optics and Precision Engineeri 2016年24卷第8期页码：1991-1999
- 作者机构：
  
  宁波大学机械工程与力学学院, 浙江宁波 315211
- 作者简介：
  
  李国平(1967-)，男，湖北武穴人，博士，教授，1990年、1993年于大连理工大学机械工程系分别获得学士学位，硕士学位，2010年于浙江大学机械工程系获得博士学位，现为宁波大学研究生院执行院长，主要从事精密定位及机电测控方面的研究。E-mail：liguoping@nbu.edu.cn E-mail：liguoping@nbu.edu.cn
  [ "孙涛(1989-)，男，安徽望江人，硕士研究生，主要从事精密加工方面的研究。E-mail：suntao_nbu@126.com" ]
- 基金信息：
  
  浙江省自然科学基金资助项目(No.LY15E050005);浙江省科技厅公益技术资金资助项目(No.2013C31017)
- DOI：10.3788/OPE.20162408.1991
  中图分类号： TG71;TN384
- 收稿日期：2016-01-27，
  
  录用日期：2016-3-4，
  
  纸质出版日期：2016-08-25
- 稿件说明：
移动端阅览
李国平, 孙涛, 邱辉, 等. 高频响伺服刀架的建模与控制[J]. Editorial Office of Optics and Precision Engineeri, 2016,24(8):1991-1999.

Guo-ping LI, Tao SUN, Hui QIU, et al. Model and control of high-frequency response servo tool[J]. Optics and precision engineering, 2016, 24(8): 1991-1999.
李国平, 孙涛, 邱辉, 等. 高频响伺服刀架的建模与控制[J]. Editorial Office of Optics and Precision Engineeri, 2016,24(8):1991-1999. DOI： 10.3788/OPE.20162408.1991.

Guo-ping LI, Tao SUN, Hui QIU, et al. Model and control of high-frequency response servo tool[J]. Optics and precision engineering, 2016, 24(8): 1991-1999. DOI： 10.3788/OPE.20162408.1991.

摘要

考虑目前应用压电陶瓷驱动器的伺服刀架只能提供单向驱动力，设计了一种基于双压电陶瓷驱动器的快速伺服刀架。涉及的两个压电陶瓷驱动器分别为刀具的进给和回复提供驱动力，其呈对称布置，用于有效提高刀架的整体刚度。为了对两个压电陶瓷驱动器进行联动协调控制，建立了PI迟滞模型和其逆模型，并设计了相应的联动协调控制方法。利用PI逆模型作为PID反馈控制的前馈环节构成复合控制用于调节快速伺服刀架的输出位移。实验验证了新型快速伺服刀架的响应频率、响应时间、位移响应特性和定位精度。结果显示：新型快速伺服刀架的响应频率为871.86 Hz，响应时间为0.000 45 s；三角波信号的最大定位误差为3.366 1

m，误差百分数为7.63%，平均绝对误差为0.698 0

m，误差百分数为1.58%；正弦波信号的最大定位误差为3.244 4

m，误差百分数为7.67%，平均绝对误差为0.930 9

m，误差百分数为2.20%。

Abstract

As the fast servo tool based on piezoelectric actuators only provides one-way driving force

a new fast servo tool based on dual piezoelectric actuators was designed. The two piezoelectric actuators in the fast servo tool were used to provide driving forces for feeding and recovery of tools and they were symmetrically arranged for effectively enhancing the overall stiffness of the servo tool. To control the two piezoelectric actuators

a PI model of dual piezoelectric actuators and its inverse model were established

and corresponding linkage coordinate control method was presented. Then

the PI inverse model was used as a feed-forward segment of PID feed-back control to construct a composite control to adjust the output displacement of fast servo tool . Experimental results show that the response frequency of new fast servo tool is 871.86 Hz

and response time is 0.000 45 s. When the inputting signal is a triangular wave

the maximum positioning error is 3.366 1

m and the average absolute error is 0.698 0

m. When the inputting signal is a sine wave

the maximum positioning error is 3.244 4

m and the average absolute error is 0.930 9

关键词

Keywords

references

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