A positioning and dynamic trajectory tracking control device and method for a two-axis motion platform

A motion platform and trajectory tracking technology, which is applied in program control, digital control, electrical program control, etc., can solve problems affecting the positioning accuracy of the two-axis motion platform system, platform vibration, and affecting the tracking accuracy of the two-axis motion platform system

Inactive Publication Date: 2017-12-19
BOHAI UNIV
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  • Abstract
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Problems solved by technology

However, although the linear motor direct drive structure has many advantages, it also brings some negative effects to the system, such as parameter perturbation, load disturbance, model error, friction, end effect and other uncertain factors will greatly affect the dual Tracking Accuracy of Axis Motion Platform System
In addition, when the platform performs positioning control, if the overshoot of the dual-axis motion platform system is too large, it will cause platform vibration and affect the positioning accuracy of the dual-axis motion platform system

Method used

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  • A positioning and dynamic trajectory tracking control device and method for a two-axis motion platform
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  • A positioning and dynamic trajectory tracking control device and method for a two-axis motion platform

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Embodiment Construction

[0087] Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0088] A positioning and dynamic trajectory tracking control device for a two-axis motion platform, its structure is as follows figure 1 As shown, it specifically includes: a DSP processor; a position and speed detection circuit for converting the position and speed signals collected by the grating ruler into a digital quantity that can be recognized by the DSP; for collecting the motor current and converting the current analog quantity into a digital quantity that can be recognized by the DSP Digital current detection circuit; key display board for setting DSP parameters and displaying DSP processing results; power interface board, IGBT driver board, first three-phase half-bridge IGBT group and second three-phase half-bridge IGBT group.

[0089] Since the two permanent magnet synchronous linear motors and their drive circuits in the dual-axis...

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Abstract

A positioning and dynamic track tracking control device and method for a two-axis motion platform belong to the technical field of multi-axis motion control. According to the shape of the command motion track, set the position coordinates, the two linear motors receive the same command signal and start to move; determine the measured position and actual speed of each linear motor; then calculate the position tracking error and speed of each linear motor Deviation; if the positioning command is executed, the variable speed switching control is performed; in the real-time execution of the dynamic trajectory tracking control process, by selecting the Lyapunov function, the inversion sliding mode control law is preliminarily designed, that is, the control current of the permanent magnet synchronous linear motor, and then combined with the automatic The adaptation method is to modify the control law in real time, and feed back the corrected control law, that is, the corrected input current to the system; the present invention can make the positioning speed of the platform transition smoothly, improve the positioning accuracy of the platform, and can suppress the existence of The disturbance can realize the precise tracking control of the dynamic trajectory.

Description

technical field [0001] The invention belongs to the technical field of multi-axis motion control, and in particular relates to a positioning and dynamic trajectory tracking control device and method for a two-axis motion platform. Background technique [0002] In industrial control, high-speed and high-precision motion control, as a key general-purpose technology in the assembly manufacturing industry, is widely used in chip manufacturing equipment, high-speed CNC machining centers, laser engraving, robots, precision mechanical equipment, etc., especially in the chip manufacturing industry and The high-speed, high-acceleration and high-precision requirements of high-end manufacturing equipment such as high-speed CNC machining centers on the motion mechanism are common requirements for the development of the industry. [0003] The two-axis motion platform is a two-dimensional platform that is directly driven by two permanent magnet synchronous linear motors and the X and Y ax...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/31443
Inventor 李兵付莹肖冰李明张亮
Owner BOHAI UNIV
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