Direct-drive gantry type motion platform contour control device and method

Abstract

The invention provides a direct-drive gantry type motion platform contour control device and method. The device comprises an IPM, Hall current sensors, position sensors, a DSP control system and an IPM isolation drive protection circuit. The method comprises the following steps: determining a given contour curve and the initial position of a linear motor in the 2Y / X direction; carrying out sampling on the position of the linear motor in the 2Y / X direction; obtaining planning speed of the linear motor in the 2Y / X direction; restraining disturbance and carrying out accurate tracking on the planning speed; carrying out sampling on the current of the linear motor in the 2Y / X direction; carrying out conversion from three-phase static coordinates to two-phase rotational coordinates on the current; calculating thrust by utilizing a quadrature axis and obtaining thrust deviation; carrying out current regulation and conversion from the two-phase rotational coordinates to the three-phase static coordinates; and carrying out contour control on a gantry type motion platform. Unified planning is carried out on an expected path output by an NURBS and position deviation, a corresponding vector relation from a curve differential system to an Euclidean differential system is established, and a speed-current two-loop control structure is formed by conversion, so that the system contour processing precision is improved.

Description

technical field [0001] The invention belongs to the technical field of numerical control machining, and in particular relates to a direct-drive gantry-type motion platform contour control device and method. Background technique [0002] Numerical control technology and equipment are enabling technologies and basic equipment for the development of modern industry, emerging high-tech industries and cutting-edge industries. The development level of numerical control technology reflects a country's industrial development status and national economic strength, and occupies a very important position in the development of the national economy. my country attaches great importance to the development of high-end CNC machine tool industry. In the "National Medium and Long-Term Science and Technology Development Plan 2006-2020", "High-end CNC Machine Tool and Basic Manufacturing Technology" is clearly listed as one of the sixteen major special projects, and The all-digital high-speed a...

AI Technical Summary

Problems solved by technology

[0004] In actual part processing, when the gantry-type motion platform performs high-speed contour tasks, the system is affected by uncertain factors such as parameter changes, load disturbances, friction, and system unmodeled dynamics, which also greatly reduces the contour processing accuracy of the system.

Images