Local Structurization Decoupling Of 6 Legs Virtual-Axis NC Machine Tool

In this paper, the idea of local structurization method was combined with the theory of decoupling so that a new decoupling method was proposed firstly. The linear motors were used as the driving instrument of virtual-axis NC machine for the first time, and decoupling between parallel motion and rotation is implemented, with the project named "Research on Dynamically and Precisely Synchronous Drive Theory and Realization Method for Double Position-loop of Linear Servo", which is sponsored by National Natural Science Foundation of China. (No. 50075057)Having avoided the effects of the mechanical transmission chains from rotary motions to linear ones, the linear permanent magnet AC motor becomes one of the best executive machines in the high-precision and micro-feed servo system and the higher control requirement on it is brought forward. There are a lot of theoretical research and application achievement in linear servo-motors.Virtual-axis machine is a new kind of machine that developed in the recent years. Many researchers have paid much attention to it because of its high stiffness, high speed and high precision , and is believed to become main instrument of high speed light NC operating center in the new century. Servo-drive of virtual-axis machine is always a problem in control theory and application technology because it has strong coupling. This paper proposed a new decoupling method-local structurization decoupling strategy. Based on using a rotary sensor on the axles, we reconfigured Jacobian matrix so that we implemented decoupling between parallel motion and rotation.By using the method, decoupling between parallel motion and rotation was implemented in 6 position-loops virtual-axis NCmachine. It caused programming of NC machine to become easier. It supplies theory for the servo-control of virtual-axis NC machine.