廣義運動誤差大回路控制的研究.pdf

1、華中科技大學博士學位論文廣義運動誤差大回路控制的研究姓名：陳世友申請學位級別：博士專業(yè)：機械制造及其自動化指導教師：賓鴻贊2001.4.1華中科技大學博士學位論文ABSTARCTThedissertationputsforwardtwonewconceptsofgeneralizedkinematicalerrorsandlarge—scaleloopcontrolschemeThegeneralizedkinematicalerror

2、saredefinedasincludingtheconventionalkinematicalerrorsandtheformerrorsofworkpieceinmachiningprocess，suchasinthemachiningprocessofleadscrewgrinding，gearcutting，multi—axissimultaneousmotionandcylindricalmachiningoftheworkp

3、ieceBecausethemachiningerrorsofamachinedworkpiecereflectcomprehensivelytheerrormotionsofthemachiningcomplex，SOthattheofflinemeasuringinformationofthemachinedworkpieceCallbeprocessedandthencombinedwiththeonlinemeasuringin

4、formationofthemachiningprocesstoproducethemanipulationvaluesforthenextoperationofthesameworkpiece，thustoimplementthelarge—scaleloopcontrolschemeforthegeneralizedkinematicalerrorsInthedissertation，themainresearchesoftheth

5、eoryandkeytechnologiesofthelarge—scaleloopcontrolarelistedasfollows：Aninformationmodelbasediterativelearningcontrolschemeisproposedtosolvetheproblemofthelarge—scaleloopcontrolofthegeneralizedkinematicalerrorsInthescheme，

6、theinformationmodelisusedfordecomposingthecomplicatednonlineartime—varyingcontrolproblemfortheerrorcompensationsystemofthemachiningcomplexintothecontrolproblemofeachindividualmachiningcomplex，whichiscomposedofthespecific

7、machinetool，workpiece，cuttingtools，jigandfixtureunderthespecificmachiningconditionsThentheiterativelearningcontrolstrategyisappliedfortheellOrcompensationofthespecificmachiningcomplexTheimplementingscheme，thekeytechnolog

8、ies，theinformationmodelandtwosuitabledatacommunicationtechnologiesaredescribedThemodelofthegeneralizedobjectisestablishedandthepropagationequationofthegeneralizedkinematicalerrorsthroughtrialtimesisderivedThen，thestabili

9、tyconditionsanddynamicresponseofasecondordersamplingcomplexvariablesystemalestudiedandtheresultsareusedtoanalyzetheconvergenceconditionsandtheconvergencespeedoftheiterativeleamingcontrolalgorithmsforthecompensationofgene

10、ralizederrorsThisisanewdevelopedmethodthatCanbeusedtoanalyzetheconvergencespeedquantitativelyinthefrequencydomainThirdlyapredictivelearningcontrolalgorithmisproposedtoimplementthehighorderwhichisinthedimensionoftrialtime