An Anti-disturbance Tracking Control Method for Plane Contour Trajectory

Abstract

The invention discloses a planar profile track disturbance-rejection tracking control method. According to the method, a planar profile track tracking control state space disturbance mathematics model is taken as a base, integration variables of a tracking position signal are introduced to establish a state space disturbance expansion mathematics model, a controller gain matrix is calculated through a Malab function place, a state feedback disturbance-rejection tracking controller is designed, input voltages of X-axis and Y-axis motors of a numerically-controlled machine tool are calculated, and high-speed high-precision disturbance-rejection tracking control on planar profile track position functions sX and sY is realized through the numerically-controlled machine tool. The method is advantaged in that the profile track controller is designed by directly employing the dual-axis tracking control state space disturbance mathematics model, and synchronous coordination tracking control of the two main shaft motors is realized; the tracking controller only has two adjustment parameters, and on-line construction is simple and reliable.

Description

technical field [0001] The invention relates to a mechanical control method, in particular to an anti-disturbance 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 i...

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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