Finite control set model predictive contour control method suitable for double-axial or tri-axial feed driving system

A finite control set and feed-driven technology, applied in the general control system, digital control, program control, etc., can solve problems such as inability to achieve advance control, unpredictable cross-coupling gain, etc.

Active Publication Date: 2020-01-03
天津鹏程多星科技有限公司
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AI Technical Summary

Problems solved by technology

Although many researchers have made a lot of improvements in this area, they are only limited to the case where the cross-coupling gain is determined. When estimated using a more accurate contour error estimation method, the cross-coupling gain is unpredictable.
[0005] In addition, the traditional control strategy usually adopts the method of feedforward compensation, and the purpose is to control the contour error that has occurred, and it cannot realize the advance control before the contour error occurs. The degree of reducing the contour error is limited, and for complex Factors such as contour trajectory and motion inertia will affect the dynamic response speed of trajectory tracking, so it is of great significance to study the precise contour tracking control of multi-axis feed drive system

Method used

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  • Finite control set model predictive contour control method suitable for double-axial or tri-axial feed driving system
  • Finite control set model predictive contour control method suitable for double-axial or tri-axial feed driving system
  • Finite control set model predictive contour control method suitable for double-axial or tri-axial feed driving system

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Experimental program
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Effect test

Embodiment 1

[0081] Based on the idea of ​​unified modeling, the present invention proposes a finite control set model prediction contour control strategy suitable for a two-axis or three-axis feed drive system. First, the mechanical equation of the kinematic mechanism of the two-axis or three-axis feed drive system is combined with the motion equation of the drive motor, the electrical equation, and the change rate equation of the contour error to establish a unified model based on the discrete Taylor series; Calculate the amount of calculation, determine an appropriate number of alternative voltage vectors with tracking error as the main index; then construct a unified value function for a two-axis or three-axis feed drive system with contour error, motor operating performance, and current amplitude limit as evaluation indicators. Realize multi-variable collaborative optimization control; then use the principle of value function minimization to select the optimal voltage vector from the a...

Embodiment 2

[0092] For the finite control set model predictive contour control method of the dual-axis feed drive system, the unified model of the dual-axis feed drive system and the finite control set model predictive contour controller are as follows:

[0093] 1. Construct a unified model of dual-axis feed drive system based on discrete Taylor series:

[0094] Based on the idea of ​​unified modeling, the two permanent magnet synchronous motors driving the x and y axes are considered as a whole, and a unified model of the dual-axis feed drive system is established. Firstly, the moving parts and the motion equations of the two drive motors in the experimental platform of the dual-axis feed drive system are modeled, which can be expressed as:

[0095]

[0096]

[0097] In the formula, p i is the expected position of the trajectory; M i is the equivalent mass of the motion mechanism; C i is the viscous friction coefficient of the motion mechanism; f i is the driving force to drive t...

Embodiment 3

[0136] The finite control set model prediction contour control method of the three-axis feed drive system is the same as that of Embodiment 2, and the unified model and value function of the three-axis feed drive system are as follows:

[0137] The unified model of the three-axis feed drive system is:

[0138]

[0139] In formula (15), x=[i dx i qx ω x θ x i dy i qy ω y θ y i dz i qz ω z θ z ε] T ;u=[u dx u qx u dy u qy u dz u qz ] T ; η = L x no x / 2π·(ω x * -ω x )+L y no y / 2π·(ω y * -ω y )+L z no z / 2π·(ω z * -ω z ); i di is the d-axis current of the motor; i qi is the q-axis current of the motor; ω i is the mechanical angular velocity of the rotor; θ i is the mechanical angle of the rotor; ε is the contour error; u di is the d-axis component of the stator voltage, u qi is the q-axis component of the stator voltage; L i is the contour error coefficient, n i is the displacement of the slider movement corre...

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Abstract

The invention discloses a finite control set model predictive contour control method suitable for a double-axial or tri-axial feed driving system. On the basis of unified modelling, unified control architecture of the double-axial or tri-axial feed driving system for finite control set model predictive control is provided; output information of various axes are interacted; furthermore, various axis loop controllers are integrated; simultaneously, under the control architecture, a compact non-cascade predictive controller is designed; a unified value function is established by taking the contour error, the running performance of a motor and the current amplitude limitation as evaluation indexes; and thus, multi-variable cooperative optimization control is realized. Different from the traditional contour control strategy, a finite control set model predictive control strategy can perform predictive control before the contour error occurs; furthermore, the dynamic response speed and the contour precision at the position of a trajectory turning point can be increased; and simultaneously, the method in the invention has the advantages of being intuitional to model, simple in structure and the like.

Description

technical field [0001] The invention relates to the technical field of contour control of a biaxial feed drive system, in particular to a finite control set model predictive contour control method suitable for a biaxial or multi-axis feed drive system. Background technique [0002] Contour machining accuracy is an important performance index of multi-axis motion control technology, which is used to evaluate the contour accuracy of multi-axis contour tracking. How to control the multi-axis feed drive system to work together to realize the precise contour tracking of the end effector is one of the key topics in the field of motion control research. In recent years, model predictive control has provided new ideas for the improvement of multi-axis feed drive systems due to its advantages of intuitive modeling, fast dynamic response, and easy handling of multi-objective control problems. [0003] Traditional control strategies are mainly divided into single-axis decoupling conto...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/35349
Inventor 张秀云王志强徐征周海松
Owner 天津鹏程多星科技有限公司
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