Plane profile trajectory tracking control method

A trajectory tracking and planar contour technology, applied in the field of mechanical control, can solve the problems of tracking performance impact, large contour error, etc., and achieve the effects of easy understanding, simple online implementation, and simple design

CN104375458AActive Publication Date: 2015-02-25ZHEJIANG UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2015-02-25

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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.
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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...

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Embodiment Construction

[0032] The method of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0033] A method for designing a planar contour trajectory tracking controller, comprising the steps of:

[0034] Step 1. According to the X-axis and Y-axis contour trajectory position function s to be tracked X with s Y , establish the state-space mathematical model of plane profile trajectory tracking control, which is Equation 1:

[0035] x · ( t ) = Ax ( t ) + Bu ( t )

[0036] the s X with s Y The trajectory function related to the time variable, wherein, the symbol "t" represents the time variable; the state vector x=[x 1 x 2 x 3 x 4 ] T , variable x 1 Indicates the X-axis tracking distance, the variable ...