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: 2008-01-30
JINAN UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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...

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

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Embodiment Construction

[0059] A specific example embodiment is an example of planar complex trajectory tracking and contour control with reference to the actuator in FIG. 1 .

[0060] The diagram of the servo control mechanism in Figure 1 shows the actual control platform for implementing 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 a...

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Abstract

The invention discloses a contour control method of a complex track. The invention is combined with a cross-coupling control framework with contour error pre-compensation function, establishes adaptive data models for the axles participating in the servo movement, determines the identification parameters of the controlled servo objects according to the current target position points and a plurality of historical position point values, and real-timely sets the control parameters with a pole placement algorithm. The method which adjusts the controlled output on the basis of a historical control output and a future control output effectively curbs bounded process interference and improves the accuracy 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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IPC IPC(8): G05B19/18
Inventor 柳宁王高吴国杰王思化
Owner JINAN UNIVERSITY
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