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Direct-driven XY table profile control method based on predictive control and cross coupling

A cross-coupling and predictive control technology, applied in digital control, electrical program control, etc., can solve problems such as PID lag, poor robustness, and increased control difficulty

Inactive Publication Date: 2013-01-02
SHENYANG POLYTECHNIC UNIV
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Problems solved by technology

At present, although the PID (proportional-integral-derivative) controller widely used in linear motors can improve the control accuracy of the motor to a certain extent, however, with the increasing accuracy requirements in the development of industry, PID due to its existence It is difficult to meet its requirements due to the shortcomings of hysteresis and poor robustness. In addition, there are two-axis couplings in the XY platform, which makes the control more difficult.

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  • Direct-driven XY table profile control method based on predictive control and cross coupling
  • Direct-driven XY table profile control method based on predictive control and cross coupling
  • Direct-driven XY table profile control method based on predictive control and cross coupling

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Embodiment Construction

[0074] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0075] The structural block diagram of this embodiment is as follows figure 1 As shown, including: signal collector 1, position setter 2, predictive controller 3,

[0076] A cross-coupling controller 4 and a driver 5, wherein the cross-coupling controller 4 includes a contour error estimator 4-1 and a contour error compensator 4-2.

[0077] In this embodiment, the XY platform servo mechanism is used as the experimental equipment, the motor driver is set in the torque mode, and a system transfer function between an input command and an output position is first obtained by using system identification. Based on this transfer function, external disturbances and internal uncertainties are regarded as system disturbances, and the error caused by disturbances is compensated by a predictive controller in a single axis, and the response speed is improved through...

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Abstract

The invention provides a direct-driven XY table profile control method based on predictive control and cross coupling, and belongs to the technical field of automatic control. The device comprises a signal collector, a position setter, a predicating controller, a cross coupling controller and a driving device, wherein the cross coupling controller comprises a profile error estimating device and a profile error compensating device. The direct-driven XY table profile control device and method based on predictive control and cross coupling are provided by the invention according to the characteristics of a direct-driven XY platform; the predicating controller is adopted to control a single shaft, so that the tracking error in the system can be reduced, and the precision in positioning of double shafts can be indirectly improved; and the cross coupling controller is adopted on the dual-shaft for decoupling, so that the profile error of the system can be directly compensated, and the precision in processing can be improved.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to a direct-drive XY platform contour control method based on predictive control and cross-coupling. Background technique [0002] Numerical control technology is an important strategic material for national defense modernization, and an important basic industry that is related to the country's strategic position and reflects the level of the country's comprehensive national strength. Vigorously developing the advanced manufacturing industry with numerical control technology as the core has become an important way for most countries to accelerate economic development, improve comprehensive national strength and national status. High-speed high-precision, synchronous control and multi-axis coordinated control are important research directions of CNC technology at present. In the machining process of CNC machine tools, the CNC machining center (CNC) is required ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/19
Inventor 赵希梅孙显峰王丽梅孙宜标姜明明
Owner SHENYANG POLYTECHNIC UNIV
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