Robust control method for directly driving numerical control platform based on coordinate transformation and parameter adjustment

A technology of parameter adjustment and coordinate transformation, applied in the field of numerical control, can solve problems such as contour errors

Inactive Publication Date: 2012-08-15
SHENYANG POLYTECHNIC UNIV
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Problems solved by technology

Although this method provides control system stability for any profile curve, the difference between

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  • Robust control method for directly driving numerical control platform based on coordinate transformation and parameter adjustment
  • Robust control method for directly driving numerical control platform based on coordinate transformation and parameter adjustment
  • Robust control method for directly driving numerical control platform based on coordinate transformation and parameter adjustment

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Embodiment Construction

[0067] The present invention will be further described below in conjunction with the accompanying drawings.

[0068] The present invention is applied to an X-Y numerical control stage with a linear drive motor, the position of the stage is connected to a linear encoder of each drive axis, and the sensor resolution of the linear encoder is 0.1 micron. The speed of each drive shaft is calculated from the reverse difference of the position measurement, and the sampling period is 2 ms.

[0069] (1) System hardware structure

[0070] Based on coordinate transformation and parameter adjustment, the robust control system directly drives the CNC platform, including voltage adjustment circuit, rectification and filtering unit, IPM inverter unit, DSP, Hall sensor, grating scale, current sampling circuit, position sampling circuit, IPM isolation drive protection circuit . The structure of the system is as image 3 As shown, the voltage adjustment circuit adopts the reverse voltage reg...

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Abstract

A robust control method for directly driving a numerical control platform based on coordinate transformation and parameter adjustment includes the steps: firstly, determining the initial phase of a motor rotor; secondly, performing coordinate transformation and parameter adjustment for contour errors to obtain position errors, namely calculating positional deviation and judging whether to adjust positions or not; and finally, executing robust control algorithm, outputting control quantity and driving the numerical control platform. A control system used in the method comprises a voltage regulation circuit, a rectifier filter unit, an IPM (intelligent power module) inverter unit, a DSP (digital signal processor), a Hall sensor, a grating bar, a current sampling circuit, a positioning sampling circuit and an IPM isolation driving protection circuit. A robust contour controller is used for directly driving the numerical control platform. Based on a complete coordinate transformation and parameter adjustment function, the robust contour controller can be applied to any smooth contour curves, device modeling errors and interference are avoided, and stability of the robust control system is improved.

Description

technical field [0001] The invention belongs to the technical field of numerical control, and relates to a robust control method for directly driving a numerical control platform based on coordinate transformation and parameter adjustment. Background technique [0002] CNC machine tools are developing in the direction of precision, high speed, compound, intelligence and environmental protection. Precision and high-speed machining put forward higher requirements for transmission and its control, higher dynamic characteristics and control accuracy, higher feed speed and acceleration, lower vibration noise and smaller wear. The direct drive feed system utilizes the characteristic that the linear motor can directly generate linear thrust, and the intermediate transmission links such as the screw nut mechanism are no longer needed in the system composition. The application of linear motor and its drive control technology in the feed drive of machine tools has brought about major...

Claims

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Application Information

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IPC IPC(8): G05B19/18
Inventor 王丽梅郑浩赵希梅孙宜标刘春芳
Owner SHENYANG POLYTECHNIC UNIV
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