Communication-jamming-observer-based cross coupling control method of networked multi-axis motion control system

Abstract

The invention relates to a communication-jamming-observer-based cross coupling control method of a networked multi-axis motion control system. According to the method, for single-axis track tracking control, a linear auto disturbance rejection controller is used for realizing the good tracking system of the single-axis track tracking control and the good anti-disturbance capability for uncertainty of the system model. In order to prevent uncertainty being equal to the system disturbance and being caused by network delay, the method employs a communication jamming observer having the delay estimation and compensation functions, thereby realizing real-time estimation and compensation for uncertainty caused by the single-axis network induced delay. And for a multi-axis coordination motion control track contour model in the networked multi-axis motion control system, a contour error model of the system at the current time is calculated; and according to the obtained contour error, a PID-based contour error compensation controller is designed to realize compensation controlling on the system contour track.

Description

technical field [0001] The invention is applied to the field of networked motion control and relates to a cross-coupling control method suitable for networked multi-axis coordinated motion control. Background technique [0002] In modern intelligent manufacturing, the application of multi-axis motion control has become increasingly widespread. Complex equipment functions can be realized through multi-axis linkage, such as industrial robots, shaftless printing machines, textile machines, and printing and packaging machines. With the rapid development of network technology, the multi-axis motion control system is developing in the direction of network and high speed. Introduce the network into the servo control system, and perform data communication between the controller and the multi-axis servo driver through Ethernet, which greatly improves the data transmission rate and reliability between the controller and the driver, and also realizes precise multi-axis synchronization ...

AI Technical Summary

Problems solved by technology

Although the transmission rate of real-time Ethernet has been greatly improved, the influence of sampling jitter caused by network-induced delay and clock asynchrony on the position tracking accuracy in high-speed sports occasions is still not negligible. The existing position servo control method Little consideration is given to these effects

There are many network-induced delay compensation methods in the field of networked control systems, such as predictive control and adaptive Smith predictor, but most of the algorithms are complex and not suitable for high-speed motion control applications

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