以實體化模型為基礎之微米級高速工具機伺服控制

Abstract

由於工具機加工時，非線性因素會對加工精度造成影響，因此在控制策略的選擇上，選用對系統不穩定性具有強韌性的順滑模態控制，做為我們的控制理論基礎以實現降低加工誤差的需求。 我們利用實體化模擬軟體來進行伺服控制整合設計，先將加工機平台的模型匯入，並加入適當的物理性質作為約束條件，建立一個較為趨近真實平台模型條件的實體化模型，接著，以系統整合模擬的方式來設計順滑模態控制器，以模擬在順滑模態控制器的作用下，工具機加工的情形。接著，本文將模擬在受到空氣阻力、摩擦力以及共振模態影響下的工具機，經由順滑模態控制之後，所得到的結果與先前由福裕公司所調整的PDF控制器所得到的結果進行評估與比較，並解釋兩種控制法則產生的結果之差異性。最後，將設計的控制器經由參數轉換，套用至實際機台上的PDF控制器上進行實機驗證，以證明本文所設計之控制器優於傳統之PDF控制器。

The flourishing hi-tech industry development has prompted the need to carry out high performance servo design and testing without actually having to construct a prototype system. However, the complicated mechanical structure and the nonlinear effects in many of the high performance systems have made it very difficult to carry out the design without a suitable model. In recent years, the software advances has achieved very accurate dynamic simulation result. It is also possible to integrate the control synthesis with the dynamic simulation. This study examines the possibility of performing the servo design within the system design environment and then applies the result to a realistic platform model. The robust sliding mode controller is employed to deal with the nonlinear characteristics in the grinding machine. The dynamic model included the multi-degree of freedom behavior and the friction effects. The simulation results also show that the sliding mode controller is able to suppress the structure resonances and achieve high accuracy control under plant uncertainties. Finally, we apply the sliding mode controller to the realistic platform to replace the traditional PDF controller, and get the satisfied achievement.