Contour outline control method for complicated track

A contour control and trajectory technology, applied in the direction of digital control, electrical program control, etc., can solve the problems of reducing contour performance, limiting the scope of application, and difficult to find implicit expressions.

Inactive Publication Date: 2009-11-25
JINAN UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the actual application process, it is not easy to find the implicit expression for complex contour curves, and when the error is close to zero, the discontinuous switching of the control rate will reduce the contour performance, which greatly limits the scope of its application

Method used

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  • Contour outline control method for complicated track
  • Contour outline control method for complicated track
  • Contour outline control method for complicated track

Examples

Experimental program
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Effect test

Embodiment Construction

[0064] A specific example embodiment is, see figure 1 Executing agencies, plane complex trajectory tracking and contour control examples.

[0065] figure 1 The diagram of the servo control mechanism, that is, shows the actual control platform for executing this example. 102 and 106 are XY-axis linear motion guide rails, connected together in a perpendicular manner, and fixed on the platform support of 101 mechanism; the travel position information of XY-axis is measured by the grating ruler, and the moving parts of 106 carry the actual work tasks; Front and rear limit switches 104 and return-to-origin switches are installed on each motion axis. The linear motion part is driven by the AC servo motor 105 through the servo amplifier to drive the ball screw, the speed information is returned by the motor encoder, and the position information is obtained by the 103 (X-axis) grating scale (equal distribution of the three axes). The servo motion structure of the vertical axis Z ...

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Abstract

The invention discloses a contour control method for complex trajectories. The method combines a cross-coupling control frame with contour error pre-compensation function to establish an adaptive data model for each axis participating in the servo motion, according to the current target position point and several The historical position point value is used to determine the parameters of the servo controlled object to be identified, and the control parameters are adjusted in real time through the pole configuration algorithm. This method of adjusting the current control output according to the historical control quantity and the future control quantity effectively suppresses the disturbance of the bounded process and improves the precision of the contour control and the stability of the process.

Description

technical field [0001] The invention relates to a contour control method, in particular to a complex trajectory contour control method. Background technique [0002] There are two main methods to improve the trajectory motion accuracy: 1. By improving the tracking control performance of each single-axis trajectory servo, indirectly reducing the trajectory profile error after the synthesis of each axis; 2. By coordinating the dynamics of each single-axis servo, Aiming at improving the control performance of the plane track profile, taking into account the dynamic characteristics of the single-axis servo, the error of the two-axis plane track profile can be directly reduced. [0003] Contour control in the general sense is to provide additional contour error information to each axis by sharing information between each servo axis without changing the single-axis servo control structure, that is, to achieve trajectory tracking. closed-loop control. The reason for not using the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/18
Inventor 柳宁王高吴国杰王思华
Owner JINAN UNIVERSITY
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