Contour control device and method for direct-drive gantry type motion platform

Abstract

The invention provides a direct drive gantry type motion platform contour control device and method, the device includes IPM, Hall current sensor, position sensor, DSP control system, IPM isolation drive protection circuit; the method includes determining a given contour curve and 2Y\ The initial position of the linear motor in the X direction; sampling the position of the linear motor in the 2Y\X direction; obtaining the planned speed of the linear motor in the 2Y\X direction; suppressing the disturbance and accurately tracking the planned speed; sampling the current of the linear motor in the 2Y\X direction; The current transforms the three-phase static coordinates to the two-phase rotating coordinates; uses the quadrature axis to calculate the thrust and obtains the thrust deviation; adjusts the current and performs the transformation from the two-phase rotating coordinates to the three-phase static coordinates; performs contour control on the gantry motion platform. The invention uniformly plans the expected path and position deviation output by NURBS, and establishes the corresponding vector relationship from the curve differential system to the Euclidean differential system, and transforms it into a speed-current two-loop control structure, thereby improving the machining accuracy of the system contour.

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.

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