引用本文:黄亮,黄华,赵秋舸,梅乐.融合Steffensen加速迭代与无模型自适应终端滑模的双轴进给伺服系统轮廓控制[J].控制理论与应用,2026,43(3):573~586.[点击复制]
HUANG Liang,HUANG Hua,ZHAO Qiu-ge,MEI Le.Contour control of a two-axis feed servo system incorporating Steffensen accelerated iteration and model-free adaptive terminal sliding mode[J].Control Theory & Applications,2026,43(3):573~586.[点击复制]
融合Steffensen加速迭代与无模型自适应终端滑模的双轴进给伺服系统轮廓控制
Contour control of a two-axis feed servo system incorporating Steffensen accelerated iteration and model-free adaptive terminal sliding mode
摘要点击 494  全文点击 76  投稿时间：2023-10-13  修订日期：2026-02-07
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DOI编号  10.7641/CTA.2024.30678
  2026,43(3):573-586
中文关键词  双轴进给伺服系统  轮廓误差  Steffensen加速迭代  无模型自适应控制  离散终端滑模控制
英文关键词  two-axisfeed servo system  contouring error  Steffensen acceleration iteration  model-free adaptive control  discrete terminal sliding mode control
基金项目  国家自然科学基金项目(52365057),甘肃省科技重大专项项目(23ZDGE002),温州市科技计划项目(G2023045)资助.
作者单位E-mail
黄亮 兰州理工大学机电工程学院 huangliang20210304@163.com 
黄华* 兰州理工大学机电工程学院 hh318872@126.com 
赵秋舸 兰州理工大学机电工程学院  
梅乐 兰州理工大学机电工程学院  
中文摘要
      针对双轴进给伺服系统在跟踪非线性轨迹时,由于系统负载变化和轮廓误差难以快速、准确地估计,进而 影响加工精度的问题,提出一种Steffensen加速迭代的轮廓误差估计(CEE)方法和一种无模型自适应离散终端滑模 控制(MFA-DTSMC)的轮廓误差控制(CEC)方法. 首先,考虑系统中存在的不确定动态的影响,将不依赖系统模型精 度的无模型自适应控制(MFAC)与离散终端滑模控制(DTSMC)结合,同时采用基于最小化代价函数的在线干扰估计 算法,提出一种新的带有干扰补偿的MFA-DTSMC单轴控制器.进一步地,为提升双轴进给伺服系统的轮廓性能,设 计了Steffensen加速迭代的CEE方法. 实验结果表明,与现有的CEE方法相比,Steffensen加速迭代方法能够提高轮廓 误差估计准确率和实时性,所提控制方法可以克服系统不确定动态的影响,能够准确跟踪期望轮廓曲线,提高轮廓 加工精度.
英文摘要
      System load changes and the contouring error are difficult to estimate quickly and accurately, which affects the machining accuracy when the two-axis feed servo system is tracking the nonlinear trajectories. To address the problem, Steffensen accelerated iteration, a contouring error estimation (CEE) method is proposed. In addition, model-free adaptive discrete terminal sliding mode control (MFA-DTSMC), a contouring error control (CEC) method is presented. Firstly, considering the influence of the uncertainty dynamics existing in the system, model-free adaptive control (MFAC), which does not dependontheaccuracyofthesystemmodel, iscombinedwithdiscrete terminal sliding mode control (DTSMC). At the same time, based on minimization cost function online disturbance estimation algorithm, a new MFA-DTSMC single axis controller with disturbance compensation is proposed. Further, to improve the contouring performance of the two-axis feed servo system, a CEE method based on Steffensen accelerated iteration method is designed. Finally, the experimental results show that Steffensen accelerated iteration method is able to reduce the computation time and improve the real-time performance compared with the existing CEE methods. The proposed control method can overcome the influence of system uncertainty dynamics and track the desired contour curve accurately as well as improve the contouring accuracy.