Two-Axis Cross-Coupling Controller Algorithm for Servo Feed System

Abstract

The invention discloses a two-axis cross-coupling controller algorithm of a servo feed system. Step 1: Collect the respective following error signals of the X-axis and the Y-axis, and calculate the output of the following error signals of the two axes of the servo system after passing through the contour error mathematical model The contour error value ε of the contour error value ε; Step 2, calculate the contour error amplification value of the contour error value ε after passing through the cross-coupling controller; Step 3, decouple the calculated contour error amplification value U through the compensation gain coefficient of the corresponding axis, and obtain the corresponding The cross-coupled controller output signal ε x and ε y ; Step 4. Compensate the output signals of each axis of the cross-coupling controller to the servo feed system. Compared with the prior art, the present invention fully considers the contour error of the system caused by the mismatched dynamic characteristics between the axes when the two-axis servo platform is linked; and based on this problem, the curve wheel when the two-axis is linked.

Description

technical field [0001] The invention relates to the technical field of servo contour precision, in particular to a method for improving contour precision during multi-axis coordinated motion by using a cross-coupling algorithm. Background technique [0002] The two-axis linkage servo feed system composed of ball screws is widely used in various mechatronic devices, such as precision machining, textile and steel rolling and other equipment. In the dual-axis linkage servo feed system, in order to improve the contour accuracy of the system as a whole, while considering the reduction of single-axis tracking error, the position synchronization performance between the two axes must also be considered. In industrial production, many factors such as mechanical assembly errors, interference, and unbalanced loads between axes will cause synchronous contour errors in multi-axis systems. Therefore, while reducing the single-axis following error, it is also necessary to take certain mea...

AI Technical Summary

Problems solved by technology

In parallel coordinated control, when one of the axes fails to operate normally under the action of external disturbance, the axis linked with it cannot make corresponding adjustments; in the case of master-slave coordinated control, when the main axis is disturbed by the outside world , the driven axis can make corresponding adjustments to ensure the contour accuracy of the system, and when the driven axis is disturbed by the outside world, the driving axis will not have any response, that is, the control strategy can only work in one direction

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