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行了研究，提出H 狀態反饋控制囂構成交叉耦合控制器，對速度環進行補償控制，使其在不平衡負載或不同擾動下能快速恢復到同步狀態。驅動元件采用直線永磁同步電動機，以發揮其高速動態響應能力，進一步實現快速同步。仿真結果表明，此種控制方案有較強的魯棒性，動態過程同步誤差小。 關鍵詞：魯棒控制；同步轉動；直線電機；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的發展，常常要對大型整體零件和幾何形狀復雜的型面進行加工。傳統的龍門鏜銑床龍門柱固定，工作臺沿導軌縱向進給 由于機床運動部件重量大，難以獲得高的加速度，對于大型復雜型面的高速加工已遠遠不能滿足要求。 [b][align=center]詳細內容請點擊： 基于H 魯棒控制器的高精度快速同步[/align][/b]