针对CNC 雕刻机控制系统因时变时延影响轮廓跟踪精度的问题, 设计了基于自抗扰控制的单轴轨迹跟踪控制器和基于非线性PID (NLPID) 的轮廓误差补偿控制器.首先,针对单轴轨迹跟踪控制, 将时变时延引起的不确定性处理成系统总干扰的一部分, 设计扩张状态观测器 (ESO),对系统内外总干扰和系统状态进行实时估计, 并设计误差补偿控制律,实现系统干扰的估计和补偿, 得到良好的单轴轨迹跟踪控制性能.然后,根据轮廓误差估计值,设计基于 NLPID 的轮廓误差补偿控制器,对系统轮廓误差实时补偿, 实现了良好的轮廓跟踪控制性能. 最后, 通过实验验证了所提方法的有效性.

This paper focuses on contour tracking control of a CNC engraving machine, whose performance is degraded by network induced delay and disturbance. An active disturbance rejection control (ADRC) was used for uniaxial tracking control and a non-linear-PID (NLPID) contour controller was designed for contour tracking control. First, the uncertainties caused by time-varying delays were modeled as bounded disturbance, which is part of the total disturbance. An extended state observer (ESO) was utilized to estimate the system states and the disturbance. Meanwhile, a control law was devised to compensate for the disturbance and to achieve satisfying uniaxial-tracking performance. Second, an NLPID contour controller was designed based on the contour-error estimations to compensate for the contour error in real-time. Finally, experiments were carried out to demonstrate the effectiveness of the approach.