Dual feedforward control system used for heavy parallel machine tool

Abstract

The invention discloses a dual feedforward control system used for a heavy parallel machine tool, which belongs to the field of machinery manufacturing and controlling, and comprises a kinematics control subsystem, an inverse kinematics module, an inverse kinematics model and a dual feedforward compensation, wherein the kinematics control subsystem is formed by sequentially connecting a first summator, a position loop controller, a second summator, a speed loop controller, a third summator and a current loop controller; the inverse kinematics model is formed by a driving force computing module and a rod length deformation computing module; the dual feedforward compensation is formed by a kinematics feedforward compensation controller and a zero phase error following compensation controller. The dual feedforward control system considers the deformation problem of a rod piece in the inverse kinematics module, and compensates the tracking error caused by the deformation of the rod piece to a certain extent; and in addition, the tracking capacity of the machine tool is improved by adopting the dual feedforward compensation, and the high-speed high-accuracy motion control on the heavy parallel machine tool is realized.

Description

technical field [0001] The invention belongs to the field of machinery manufacturing and control, and in particular relates to the control problem in the practical process of heavy-duty parallel machine tools. Background technique [0002] Heavy manufacturing equipment is one of the basic equipment in the manufacturing industry. It plays an important role in the implementation of major national defense projects and reflects a country's extreme manufacturing capabilities and manufacturing levels. All kinds of large-scale equipment and equipment required in industrial modernization are inseparable from heavy-duty manufacturing equipment, such as large-scale aircraft, heavy-duty ships, large-scale hydropower equipment, nuclear power plants, etc. Among them, large-scale forging parts require heavy-duty forging machines, die-forging hydraulic presses, etc. , and large workpieces with high quality requirements require corresponding heavy-duty CNC machine tools for processing. Com...

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Problems solved by technology

[0008] The purpose of the present invention is to overcome the deficiencies of the prior art, and propose a double feed-forward control system for heavy parallel machine tools, which is mainly used to solve the deformation and low motion accuracy of heavy parallel machine tools in the motion process and other problems, this system considers the rod deformation problem in the kinematics inverse solution module, and compensates accordingly. Through double feed-forward compensation, the influence of disturbance torque is reduced, the phase delay of the control system is eliminated, and the heavy-duty parallel machine tool is finally realized. High-speed, high-precision control

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