设计一种抑制车削过程颤振的PID控制器并研究其在非线性时滞过程中的作用

Mohsen Khajoee, H. Moradi
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引用次数: 1

摘要

再生颤振严重阻碍了高质量、高生产率的加工作业。因此,颤振抑制具有重要意义;而主动控制是抑制它的最好方法之一。本文将正交车削过程建模为考虑刀具磨损影响的单自由度系统;并通过延迟微分方程(DDE)来描述。在此基础上,通过试错得到了稳定性叶图。执行器力是控制系统的输入,刀具振动是输出。设计了经典的PID控制器,提高了过程的稳定性,抑制了自激振动。然后对控制器进行调谐,以实现振动的抑制,短的沉降时间,低超调和小的执行器力。基于稳定性叶图,该控制器提高了车削过程的稳定性极限,减小了颤振。虽然控制器对系统振动的影响取决于执行器的饱和力,但使用饱和力相对较低的执行器可以获得令人满意的性能。实现所提出的控制器的力执行器的电子电路是当前研究的未来阶段。
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A PID controller design to suppress chatter vibrations in the turning process & studying its effect in nonlinear delayed process
High-quality, high-production-rate machining operations are significantly hindered by the regenerative chatter. Therefore, chatter suppression is of great significance; and active control is one of the best ways to curb it. In this paper, the orthogonal turning process is modeled as a single-degree-of-freedom system that includes the effect of tool wear; and described through a delay differential equation (DDE). Based on the model, stability lobes diagrams are obtained by the trial and error. The actuator force is the input for the control system and the tool vibration is the output. A classical PID controller is designed to improve the stability of the process and curb the self-excited vibrations. The controller is then tuned in order to achieve the vibration's suppression, short settling time, low overshoot and small actuator force. Based on the stability lobes diagram, the presented controller increases the limit of stability and attenuates the chatter in turning process. Although the effect of the controller on a system's vibration depends on the actuator's saturation force, using an actuator with a relatively low saturation force leads to a satisfactory performance. An electronic circuit for the force actuator that implements the proposed controller is a future phase of the current research.
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