鎽樿锛�閲濆皪楂橀€熼緧闁€绉诲嫊寮忛彍閵戝姞I涓� 鍚屾鍌冲嫊鐨勪笉涓€鑷存€ч€茶浜嗙爺绌�锛屾彁鍑篐 鐙€鎱�(t脿i)鍙嶉鎺у埗鍥傛(g貌u)鎴愪氦鍙夎€﹀悎鎺у埗鍣�锛屽皪閫熷害鐠�(hu谩n)閫茶瑁滃劅鎺у埗锛屼娇鍏跺湪涓嶅钩琛¤矤杓夋垨涓嶅悓鎿惧嫊涓嬭兘蹇€熸仮寰╁埌鍚屾鐙€鎱�(t脿i)銆傞﹨(q奴)鍕曞厓浠堕噰鐢ㄧ洿绶氭案纾佸悓姝ラ浕鍕曟锛屼互鐧�(f膩)鎻叾楂橀€熷嫊鎱�(t脿i)闊挎噳鑳藉姏锛岄€蹭竴姝ュ鐝�(xi脿n)蹇€熷悓姝�銆備豢鐪熺祼(ji茅)鏋滆〃鏄庯紝姝ょó鎺у埗鏂规鏈夎純寮风殑榄鎬�锛屽嫊鎱�(t脿i)閬庣▼鍚屾瑾ゅ樊灏忋€� 闂�(gu膩n)閸佃锛�榄鎺у埗锛涘悓姝ヨ綁(zhu菐n)鍕�锛涚洿绶氶浕姗�锛涢緧闁€绉诲嫊寮忛彍閵戝姞宸ヤ腑 [b][align=center]Application research on high-precision rapid synchronous traversing technology based on H Robust controller TANG Guang鈥攑u锛� GUO Qing鈥攄ing 锛圕ollege of Electrical Engineering锛孲henyang UnNersity of Technology锛嶴henyang 110023 China锛塠/align][/b] Abstract锛歍he nonco incidental problem of synchrodrive for high鈥�-speed gantry鈥攎oving type milling machining center is researched锛嶩 state feedback controller is presented in this paper to build up cross鈥攃oupled controllers to compensate and control for velocity loops锛寃hich can rapidly restore synchronous state under the condition of unbalanced loads or different disturbances The linear permanent magnet synchronous motors锛圠PMSM锛塧re used a s dr锝瀡ing 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锛� Key words锛�Robust control锛泂ynchrodrive锛沴inear motors锛沢antry鈥攎oving type milling machining center [b] 0 寮� 瑷€[/b] 闅ㄨ憲楂橀€熼珮绮惧害閺滈姂鍔犲伐鎶€琛�(sh霉)鐨勭櫦(f膩)灞�锛屽父甯歌灏嶅ぇ鍨嬫暣楂旈浂浠跺拰骞句綍褰㈢媭寰╅洔鐨勫瀷闈㈤€茶鍔犲伐銆傚偝绲�(t菕ng)鐨勯緧闁€閺滈姂搴婇緧闁€鏌卞浐瀹�锛屽伐浣滆嚭娌垮皫杌岀副鍚戦€茬郸 鐢变簬姗熷簥閬嬪嫊閮ㄤ欢閲嶉噺澶э紝闆ｄ互鐛插緱楂樼殑鍔犻€熷害锛屽皪浜庡ぇ鍨嬪京闆滃瀷闈㈢殑楂橀€熷姞宸ュ凡閬犻仩涓嶈兘婊胯冻瑕佹眰銆� [b][align=center]瑭崇窗鍏�(n猫i)瀹硅珛榛炴搳锛� 鍩轰簬H 榄鎺у埗鍣ㄧ殑楂樼簿搴﹀揩閫熷悓姝�[/align][/b]