As the development of heavy-duty machine, often need intricate to large whole part and geometrical appearance work to undertake machining. Doorpost of traditional dragon of milling machine of dragon door boring is fixed, the workbench edge slideway that holds work is fore-and-aft feed. Because weight of component of machine tool motion is great, obtain tall acceleration hard; The limitation that spends because of getting working director at the same time and economic work place cover an area of the requirement of the area, milling machine of boring of dragon doorpost fixed construction already cannot satisfy a requirement far to the high speed treatment of large work. And movable type of door of high speed dragon boring milling machine, satisfying move, below the circumstance of static stiffness, let workbench and workpiece keep dormant, make slideway of dragon doorpost edge fore-and-aft feed, because the athletic quality of pillar is opposite lesser, can acquire tall acceleration character so. However, because crossbeam reachs the tool carrier that its match, the forms large and mobile part such as dragon door and the part that its match, always do not form symmetrical structure and semmetry to get power, and all sorts of uncertainty in moving disturb, although dragon doorpost both sides uses identical main transfer machinery, but the consistency that be being returned finally is shift of pillar of both sides of frame of unwarrantable dragon door, the mechanical coupling that this kind of abhorrent sex produces may make component of drive of dragon door frame is mixed be machined workpiece is damaged. So, the synchronous drive of both sides pillar is this kind of machine tool eliminates mechanical coupling, prevent mechanical damage, assure to machine the crucial technology of precision. The dynamic and synchronous function that the change of the inertia of equivalent of pillar both sides that causes to solve tool carrier to change in crossbeam position destroys output, use laden trends to compensate a method to adjust scale gain, make two electric machinery keep synchronous. In recent years, intelligent control development is very rapid, blur especially the mathematical model that control counts a boy or girl friend not completely, comfortable the system that has uncertainty at be opposite and nonlinear the system undertakes controlling, be helpful for solving the problem that a lot of classical control solve hard. The article introduces ambiguous PID controller to regard speed as adjuster, exploited ambiguous pilot advantage effectively, raised synchro control precision thereby. The structure of boring milling machine reachs dragon door movable type coupling pursues the 1 dragon door movable type that is drive of double linear electric machinery sketch map of structure of boring milling machine. Two linear electric machinery part drive two pillar, an input that dominates return circuit affects another output that dominates return circuit through mechanical coupling action, the interference of either odd loop, affect the output of this loop not only, also can affect the output of another loop through crossbeam, disturb mutual coupling namely, output of two drive electric machinery carries existence machinery coupling. Graph the dragon door movable type of drive of 1 linear electric machinery structure of boring milling machine is linear electric machinery of permanent magnetism servo (the equation of voltage of D-q axis model of LPMSM of LPMSM) maths model and linkage equation are: (In 1) type, rs is mover resistor;ud, uq, id, iq, ld, lq, λ D, λ Q is voltage of mover of axis of D, Q, electric current, inductance and linkage respectively; τ is mover speed; λ P/d is polar distance; For linkage of excitation of stator permanent magnet. Undertake to LPMSM vector is controlled, make vector of mover electric current and magnetic field of stator permanent magnet are in dimensional orthogonality, although Id=0, criterion: (2) among them, KT is equation of thrust coefficient motion (3) among them the equivalent obstruction;D that FL is the effect that carry a department to arise for laden obstruction;FE is;m of coefficient of friction sticking sluggish to be mover and the quality that its take load. Control structure of the system is in dragon door movable type in the synchronous servo of boring milling machine, two servo subsystem gives signal campaign by same rate, definition among them a servo is drive shaft, another is driven axis, constituted independence advocate, from drive means. Through undertaking to linear electric machinery thrust is controlled, make two axes keep synchronous. This literary grace controls a construction with principal and subordinate, use positional control to active electric machinery only. The positional controller output of active electric machinery regards as the speed of driven electric machinery commands signal, be obstructed the change that produces positional feedback when active electric machinery by the outside, the referenced speed of the referenced speed of driven electric machinery and active electric machinery also changes subsequently euqally, will raise the safety factor that controls systematic coupling construction so. If the graph is shown 2 times,principle of synchro control construction of system pursues. Among them, ;P1 of controller of the make a present of before P2 is the position is controller of ambiguous PID of; of positional scale controller to be speed controller, answer;PI controller accurately of signal in order to come true to be compensated to dynamic deformation force quickly to the input, prevent high speed to move below, too large double shaft simultaneous error causes a harm to the system. Graph dynamic compensation designs load of graph of principle of construction of system of 2 synchro control when dragon door movable type machining center realizes boring mill when 2 dimension motion is controlled, the change of tool carrier position of drive of linear electric machinery often can bring about Y axis X axis is linear the change of inertia of electric machinery equivalent, among them, because driven electric machinery does not have independent fixed position to control, get easily of equivalent inertia change and affect output, the output that affects two X axis then is synchronous. This uses method of laden and dynamic compensatory with respect to the requirement, adjust scale gain and compensate in order to control to electric machinery of X axis driven, make the system can maintain synchronism to move. When inertia of electric machinery equivalent increases, the transfer function between its voltaic input and speed output will produce change, namely M) of △ of L/ △ Mb->l/(mb+ . Principle of laden and dynamic compensatory uses a weight to adjust the transfer function between voltaic input and speed output just about, those who make its maintain W/mb=W/(mb+ △ M) is constant relation, criterion W=(1+ △ M/mb)*W. Change for laden and dynamic attune namely gain. Among them W is value of a scale only, can define for 1. Design W` needs to get △ M only can. If the graph is shown 3 times, definition length E, F, G, H, reach M1 of all quality centre of gravity, M2, M3 and A, B at 2 o'clock. It is OK to use pitching moment to balance a principle computation gives B dot to bear structure (the bulk that contains M of △ of equivalent quality of M1, M2) . Through laden trends air runs the compensation of gain, although inertia of equivalent of driven electric machinery produces change, its speed outputs an influence to also won't be affected accordingly, make the system still maintains good synchronism to answer. Graph the design of controller of PID of faintness of sketch map of balance of 3 moment of force controls theory to design ambiguous controller according to faintness. Define systematic error | E | With the metabolic ratio of the error | Ec | Regard the input of ambiguous controller as the quantity, among them △ of E=yd-y (4) Ec= E (5) Kp, ki, kd is output, namely this faintness controller is two inputs 3 output form. Input what language variable mixes to all be {-6 by region, - 5, - 4, - 3, - 2, - L, 0, l, 2, 3, 4, 5, 6} , output language variable Kp, ki, of Kd all be {0 by region, l, 2, 3, 4, 5, 6} . Pass summary before what the project operates experience actually to get E, Ec is subject degree of function and PID parameter Kp, ki, the control regulation of Kd is expressed. Design ambiguous PID controller. Kp, ki, if the control regulation of Kd expresses 1-3 place to show: Systematic emulation uses the linear electric machinery with two identical parameter to undertake emulation study, parameter is as follows: M=11. 0kgD=2.
0N.
S/m KT=27.
Parameter of 5N/A Fe=200N controller: P1=12, P2=1, PI=0.
0583+0.
213/S. It is between at that time 0.
When 5s, in X axis input amplitude is 0.
Of 4m rank jump signal to be positional signal. Weigh the change of the heart in the light of Y axis load, the effect that this research removes driven electric machinery to be caused because of the change of equivalent inertia with laden and dynamic compensation, add upper mould to paper PID controller to undertake modulatory. Graph the position error of the 4 systems when to do not have load trends is compensated and ambiguous PID is controlled answers a curve, graph the 5 position error after to join load trends is compensated and ambiguous PID is controlled answer a curve, can see ambiguous PID control and laden and dynamic compensatory join the synchronous precision that improved two linear electric machinery greatly. Pursue 4 be compensated without laden trends and position error of ambiguous PID pilot answers graph the position error after 5 have laden and dynamic compensation and ambiguous PID control answers curvilinear epilogue the article is analysing dragon door the pace differs between on the X axis of drive of double linear electric machinery in milling machine of movable type boring two linear electric machinery, put forward ambiguous PID and laden and dynamic compensatory to control a method. Can see by emulation curve, ambiguous PID control and laden and dynamic compensatory join the synchronous precision that improved two linear electric machinery greatly. CNC Milling