关键词: 集成制造单元, A轴, 高精度控制, 摩擦补偿, 积分型滑模控制

Abstract: Aiming at the influence of nonlinear friction on the positioning precision of A-axis,two different integral sliding mode controllers were proposed according to different dynamic characteristics of the static and dynamic friction models.When the system was in a different friction stage,the corresponding friction compensation controller would be activated;when the two friction states were constantly switched,the corresponding controller would be switched as well.Experimental results showed that this method could effectively improve the positioning and tracking precision of the A-axis,ensure the blade machining precision and surface consistent,and significantly reduce the surface roughness.

Key words: integrated manufacturing cell, A-axis, high-precision control, friction compensation, integral sliding mode control