Auto-disturbance rejection controller-based iterative learning contour error control method for networked multi-axis motion control system

Abstract

The invention relates to an auto-disturbance rejection controller-based iterative learning contour error control method for a networked multi-axis motion control system. According to the method, firstly, the uncertainty of the system caused by time-varying delay is dynamically processed as one part of the total disturbance of the system, and the total disturbance of the system is expanded into a new variable. In this way, an augmented model of a networked single-axis servo control system is established. Secondly, an expanded state observer is designed to estimate the state of the augmented system, and then a linear self-disturbance rejection controller based on the expanded state observer is adopted to realize the tracking control of a single-axis trajectory. Thirdly, the contour error model of the system at the current moment is calculated. According to an obtained contour error, a contour error compensation controller based on an iterative learning control algorithm is designed. In this way, the high-precision tracking control on the contour of the system is achieved. The method realizes the good tracking control performance for the single-axis trajectory, and the good anti-disturbance capability for the model uncertainty of the system. The high-precision tracking control performance for the contour of the system is also achieved.

Description

technical field [0001] The invention belongs to the field of networked motion control and relates to an iterative learning contour error 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 ...

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

Recently, Japanese scholars Natori and Ohnishi proposed the Communication Disturbance Observer (CDOB), which modeled the network-induced delay as interference, and performed real-time estimation and compensation through the communication disturbance observer, and obtained a good delay compensation effect, but it needs Establishing an accurate model of the system has certain limitations in practical applications

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