| 英文摘要 | High-speed and high-precision automatic filling machines and shear machines have been monopolized by oversea manufacturers for a long time, however, multi-axis synchronization control is one of the key technologies which must be solved for the kind of machines, meantime, it is one of the key technologies of special grand national science-technology project for numerical control systems. So, the self-developed synchronization control system for automatic filling machine is researched, and how to improve dynamic and steady state performance of the master-slave dual-axis synchronization control system is concerned. Therefore the key technologies of the control system for filling machine, which include position synchronization control strategy, repetitive control, preview control, robust control with disturbance observer, neural network control, etc., are investigated in detail. Firstly, based on the control systems of liquid medicine filling machine and flying shear machine, a kind of master-slave synchronization control system is presented and the importance in social production of the systems is introduced. The realization methods and the application status are respectively expatiated; moreover, the main control strategies of the control systems are referred and the key technologies of realizing the control system are covered. Secondly, to compensate system periodic error because of its periodic motion represented by synchronization control system of automatic filling machine, a compound control strategy, which is based on PID controller and modified dual-repetitive controller, is proposed on the basis of tracking performance and stability. The control strategy, which combines the advantages of both PID control and repetitive control, can improve the position synchronization precision, save data storage space and speed the error convergence. Simulation and experiment results show the algorithm works well. Thirdly, to solve dynamic delay of the master-slave synchronization control system, preview control method is introduced to it. The control system has some preview ability by making full use of the known future trajectory information. At the same time, disturbance observer is established for the unknown disturbance compensation. Simulation and experiment results show the system has fine dynamic and steady state performance. Fourthly, in view of the conflict of no-overshoot and rapid response of position control systems since the most ... |
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