Research On Position Servo Control Technology Of PCB Drilling Machine

With the miniaturization, high-density, high reliability of electronic products,the PCB drillingmachines, become faster, higher precision and higher reliability.That puts higher requirements of highspeed, high accuracy and high reliability on the servo control system of PCB drilling machines. Bycentering on how to achieve fast response speed and high positioning accuracy of the position servocontrol system, the paper researches about the overall design of the control system, modelidentification and modeling technology of the servo control system, position servo controltechnology.The main research work of this paper are as follows：Firstly, in view of the high speed and high positioning accuracy, by studying the advantages anddisadvantages of different control structure and control methods used in position servo control system,a closed-loop control method based on torque control mode is presented herein. This method isapplied to the servo control system of PCB drilling machine successfully.Secondly, in order to improve the system modeling accuracy, a compound modeling method ofanalytical method and experimental method is presented to modeling the model of the controlledobject.The structure of the model of the controlled object is established with the analytical method.The parameters of model are get by the model identification experiment with RGC algorithm.Thirdly, researches about position loop control method and velocity loop control method basedon ADRC techniques are presented in this dissertation. To increase the bandwidth of the speed loop,the Tracking Differentiator(TD) of ADRC is left out. To restrain the disturbance in the servo system,the Extended State Observer(ESO) of ADRC is used to observing and then compensating thedisturbance effects upon the control system. To improve the positioning accuracy, error-compensationtechnique is also used. The experiment show that the control method effectively improves thedynamic response ability and positioning accuracy.Finally, the corresponding position servo control system is designed and exploited with PCBdrilling machine.The verifications are implemented for the model identification, the positioncontroller and speed controller based on ADRC, and error-compensation algorithm. Through dataacquisition, the feasibility and effectiveness of the methods were certified.