Sliding Mode Control with a Disturbance Observer for a Virtual Axis Machine Tool Parallel Mechanism
The uncertainties of a virtual a?is machine tool are still a major obstacle for realizing (he industrialization. Firstly, the kinemtics analysis of the parallel mechanism of a 6-DOF virtualasis machine tool is made. Secondly, a joint-space trajectory planning based on (he PVT interpolation algorithm is conducted to ensure (he stability of the mechanism movement. Finally, in order to improve the robustness of the virtual axis machine tool for (he disturbances and effectively inhibit the chatting caused by the excessive switching gain in the traditional sliding mode control method, a sliding mode controller with a disturbance observer is designed. The simulation results show that the control system of the virtual axis machine tool developed in this paper can improve the robustness for the parameter variations and external interferences and has a good dynamic tracking performance and an accurate steady-state performance.
virtual axis machine tool sliding mode control disturbance observer PVT interpolation
Guoqin Gao Yizhen Zhang Li Xue
School of Electrical and Information Engineering, Jiangsu University Zhenjiang, China
国际会议
成都
英文
851-855
2010-12-17（万方平台首次上网日期，不代表论文的发表时间）