摘要：針對高速龍門移動式鏜銑加I中 同步傳動的不一致性進(jìn)行了研究，提出H 狀態(tài)反饋控制囂構(gòu)成交叉耦合控制器，對速度環(huán)進(jìn)行補(bǔ)償控制，使其在不平衡負(fù)載或不同擾動下能快速恢復(fù)到同步狀態(tài)。驅(qū)動元件采用直線永磁同步電動機(jī)，以發(fā)揮其高速動態(tài)響應(yīng)能力，進(jìn)一步實(shí)現(xiàn)快速同步。仿真結(jié)果表明，此種控制方案有較強(qiáng)的魯棒性，動態(tài)過程同步誤差小。 關(guān)鍵詞：魯棒控制；同步轉(zhuǎn)動；直線電機(jī)；龍門移動式鏜銑加工中 [b][align=center]Application research on high-precision rapid synchronous traversing technology based on H Robust controller TANG Guang—pu， GUO Qing—ding （College of Electrical Engineering，Shenyang UnNersity of Technology．Shenyang 110023 China）[/align][/b] Abstract：The nonco incidental problem of synchrodrive for high—-speed gantry—moving type milling machining center is researched．H state feedback controller is presented in this paper to build up cross—coupled controllers to compensate and control for velocity loops，which can rapidly restore synchronous state under the condition of unbalanced loads or different disturbances The linear permanent magnet synchronous motors（LPMSM）are used a s dr～ving parts to bring their highspeed dynamic response ability into play fo r further realizing rapid synchronism The results of simulation indicate that the proposed scheme has strong robus tness and synchronous erro r is lower during dynamic process． Key words：Robust control；synchrodrive；linear motors；gantry—moving type milling machining center [b] 0 引 言[/b] 隨著高速高精度鏜銑加工技術(shù)的發(fā)展，常常要對大型整體零件和幾何形狀復(fù)雜的型面進(jìn)行加工。傳統(tǒng)的龍門鏜銑床龍門柱固定，工作臺沿導(dǎo)軌縱向進(jìn)給 由于機(jī)床運(yùn)動部件重量大，難以獲得高的加速度，對于大型復(fù)雜型面的高速加工已遠(yuǎn)遠(yuǎn)不能滿足要求。 [b][align=center]詳細(xì)內(nèi)容請點(diǎn)擊： 基于H 魯棒控制器的高精度快速同步[/align][/b]