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

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.

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...

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Problems solved by technology

[0014] Chinese invention patents "A Contour Control Method for Complicated Trajectories" (Patent No.: 200710030228.5) and "Direct Drive XY Platform Contour Control Method Based on Predictive Control and Cross-Coupling" (Patent No.: 201210359218.7) both adopt cross-coupling control strategies, On the basis of multiple existing single-axis control loops, the closed-loop control of the contour error is realized by integrating a contour controller. There is a coupling effect between the contour control and the tracking control, which causes the contour performance to be affected by the tracking performance. High-speed The contour error is large during processing

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