Plane profile trajectory tracking control method

Abstract

The invention discloses a plane profile trajectory tracking control method. The plane profile trajectory tracking control method comprises the steps that based on a plane profile trajectory tracking control state space mathematic model, a full-state feedback tracking controller is designed by solving a Riccati matrix equation, the input voltage of an X-axis motor and the input voltage of a Y-axis motor of a numerical control machine tool are then calculated, and the high-speed and high-precision stabilized tracking control over plane profile trajectory position functions sX and sY by the numerical control machine tool is achieved. The plane profile trajectory tracking control method has the advantages that the profile trajectory controller is designed by directly adopting the double-axis tracking control state space model, and the synchronous coordinate tracking control over the two spindle motors is achieved; the tracking controller only has one adjusting parameter, and thus online implement is easy, convenient and reliable.

Description

technical field [0001] The invention relates to a mechanical control method, in particular to a tracking control method for a plane contour track motion process. Background technique [0002] At present, four types of contour control methods are mainly used for contour trajectory tracking control at home and abroad: contour trajectory PID control, contour trajectory adaptive control, contour trajectory sliding mode variable structure control and contour trajectory fuzzy control. [0003] Conventional PID control is simple, reliable and easy to implement, and has been widely used in the contour trajectory control system of existing middle and low grade CNC machine tools. At present, this contour control method generally adopts two control strategies, that is, the strategy of ignoring disturbance and compensating disturbance. In the contour trajectory PID control ignoring the disturbance, the friction characteristic of the contour trajectory motion process is regarded as a di...

AI Technical Summary

Problems solved by technology

However, due to the cross-coupling control strategy, 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, and there is coupling between the contour control and the tracking control. As a result, the tracking performance is affected by the contour performance, and the contour error is large during high-speed machining

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