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

A control system, multi-axis motion technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve problems such as complex algorithms and inappropriate high-speed motion control, and achieve good anti-disturbance ability, good single-axis Effects of Trajectory Tracking Control Performance

Inactive Publication Date: 2017-08-22
ZHEJIANG UNIV OF TECH
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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

Method used

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

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Embodiment Construction

[0040] In order to make the technical scheme and design idea of ​​the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings.

[0041] refer to Figure 1 to Figure 9 , a cross-coupling control method of a networked multi-axis motion control system based on a communication disturbance observer, said method comprising the steps of:

[0042] Step 1) According to the dynamic characteristics of the multi-axis motion control system, the second-order model of the single-axis servo system in the torque mode is established as

[0043]

[0044] Among them, the control input of the system is the motor input voltage U(s), the output, that is, the controlled variable is the shaft position Y(s), and K and T are system parameters;

[0045] Step 2) For single-axis trajectory tracking control, design a tracking controller based on linear active disturbance rejection control, the process includes: designing a linear tracking diffe...

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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 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王瑶为张文安
Owner ZHEJIANG UNIV OF TECH
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