Contour Control Method of Servo System Based on Task Polar Coordinate System

A polar coordinate system, contour control technology, applied in the direction of digital control, electrical program control, etc., can solve problems such as large contour error, and achieve the effect of reducing contour error
CN103760816BActive Publication Date: 2016-07-13HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
Publication Date
2016-07-13

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Abstract

The invention relates to a servo system contour control method, in particular to a servo system contour control method based on a task polar coordinate system. The servo system contour control method based on the task polar coordinate system comprises the first step of establishing an XY motion platform kinetic equation, the second step of establishing the task polar coordinate system based on osculating circle proximity according to expected track information and calculating the corresponding coordinate transformation relation, the third step of converting a system kinetic equation under a Cartesian coordinate system into an error kinetic equation under a task polar coordinate, and the fourth step of designing a feedback PD controller based on the feedforward compensation and achieving the decoupling control on the error kinetics. The decoupling contour control method based on the task polar coordinate system has the advantage that the contour error caused during the high-speed and large-curvature contour machining process can be greatly reduced.
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Description

technical field

[0001] The invention relates to a servo system contour control method, in particular to a servo system contour control method based on a task polar coordinate system. Background technique

[0002] Contour control technology is one of the key technologies of modern high-end automation equipment, widely used in the core equipment of modern manufacturing industry, such as CNC machine tools, industrial robots, laser processing equipment, etc. The purpose of contour control is to control the multi-axis servo system to move along the desired trajectory, especially to reduce the error in the direction perpendicular to the direction of motion. The high-speed and high-precision contour control of the multi-axis servo system of CNC machine tools can achieve good workpiece surface quality, which has important practical significance and broad application prospects for modern industry. Existing contour control methods have problems such as insufficient contour error esti...

Claims

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