A multi-axis motion control method based on data-driven and parameter hybrid optimization

Abstract

The invention relates to a multi-shaft motion control method based on data driving and parameter mixing optimization. According to the method, a data driving algorithm and a parameter mixing optimization algorithm are established and debugged in a PC host computer, and motion control codes which can be identified by a multi-shaft motion controller end of a lower computer are generated by a compiling module and an operation module of the host computer; an operation state of a motor side is detected by a photoelectric encoder, a detection result is taken as a feedback signal which is transmitted to a multi-shaft motion controller, the feedback signal is compared with an expected position input signal to acquire a position error signal, the position error signal is taken as input of an MFAC control algorithm, and an outer-most layer position control ring of a motor driving system is constructed. Through a multi-shaft motion control method based on a data driving theory, no specific controlled system mathematic model is required, the input and output data information is only required to design a controller of a controlled system, and influence of unmodeled dynamics on a multi-motor driving system and dependence on the system are solved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a multi-axis motion control method based on data-driven and parameter hybrid optimization. Background technique [0002] In the control process of industrial manufacturing and production automation, the motion control of single-axis motors has been unable to meet the growing industrial needs. The multi-axis motion control system based on multi-motor drive has been paid more and more attention in related research fields, especially in the field of robot control, where it is required to maintain synchronous operation between multiple motors, and the control accuracy and reliability of the system are also affected by multi-motor coordination. The effect of good or bad running performance. [0003] The traditional control methods used in the multi-axis motion control system mainly include PID control, fuzzy adaptive variable structure control, iterative learning control, adapt...

AI Technical Summary

Problems solved by technology

On the one hand, most of the above control strategies are aimed at the control of single-axis motors. Each single-axis motor can be controlled by a relatively independent speed and position controller. When the speed, position or load of a certain axis motor occurs When changing, other shaft motors cannot make corresponding adjustments in time, which will affect the coordination and control accuracy of the entire multi-motor drive system

On the other hand, the above control methods need to establish an accurate mathematical model to design and analyze the control system, while the multi-motor drive system is regarded as a system with nonlinear time-varying coupling and uncertain structure and parameters. Traditional control strategies are not ideal for the control of complex nonlinear systems such as multi-motor drive systems, and there is a problem of difficulty in online tuning of control parameters.

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