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Intelligent control method for chip mounter motion system based on binary spline scale function

A scaling function and motion system technology, applied in the field of model identification and intelligent control of the motion system of the placement machine, can solve the problems of low tracking accuracy, achieve high accuracy, realize real-time tracking, and achieve good control effects.

Active Publication Date: 2020-04-24
HARBIN INST OF TECH
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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of low tracking accuracy when the motion system model and parameters (such as parameters in the system model, friction coefficient, and viscous resistance coefficient) of the prior art are unknown, and propose a method based on two Intelligent Control Method of Meta-spline Scaling Function

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  • Intelligent control method for chip mounter motion system based on binary spline scale function
  • Intelligent control method for chip mounter motion system based on binary spline scale function
  • Intelligent control method for chip mounter motion system based on binary spline scale function

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specific Embodiment approach 1

[0023] Specific embodiment one: the intelligent control method of the placement machine kinematic system based on binary spline scale function, comprises the following steps:

[0024] Step 1. Establish a dynamic model of the motion system of the placement machine moving along the horizontal axis or the vertical axis, wherein the horizontal axis is represented by x, and the vertical axis is represented by y; the specific process is:

[0025] Only consider the viscous friction force and Coulomb friction force on the motion platform of the mounter, and classify other model information not considered in the motion system of the mounter as the unmodeled dynamics of the system. According to Newton's second law, the sticking The dynamic equation when the chip motorized platform moves along the horizontal axis or the vertical axis, without loss of generality, we are considering the dynamic model of the motion system of the placement machine moving along the horizontal axis:

[0026] ...

specific Embodiment approach 2

[0034] Embodiment 2: The difference between this embodiment and Embodiment 1 is that the step 2 constructs a binary spline scale function, and performs translation and telescopic transformation on it to establish a framework on the space of a binary square integrable function; The specific process is:

[0035] Construct unary spline scaling function as follows:

[0036]

[0037] in, z is the unary spline scaling function independent variable, is the set of all real numbers;

[0038] According to the constructed unary spline scaling function, construct the binary spline scaling function as follows:

[0039]

[0040] in, Indicates that with respect to the independent variable z 1 The unary spline scaling function of , Indicates that with respect to the independent variable z 2 The unary spline scaling function of z 1 is the binary spline scaling function independent variable, z 2 is the binary spline scaling function independent variable,

[0041] W...

specific Embodiment approach 3

[0046] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that in Step 3, according to the framework established in Step 2, an appropriate scale is selected, and the unmodeled dynamic items in the model established in Step 1 Perform function approximation; the specific process is:

[0047] is a framework on the space of square-integrable functions and thus approximates the unmodeled dynamics with arbitrary precision And the approximation accuracy is only related to the selection of the scale parameter j. When j→-∞, the approximation accuracy will tend to 0, but it will take up a lot of storage space. Therefore, according to the specific conditions such as the operating environment and performance requirements of the motion system of the placement machine , select the appropriate scale parameter j, so that the impact of the approximation error on the control performance of the system is much smaller than the impact of the measurement noise (the noi...

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Abstract

The invention discloses an intelligent control method for a chip mounter motion system based on a binary spline scale function, and relates to a model identification and intelligent control method forthe chip mounter motion system. The objective of the invention is to solve the problem of low tracking precision under the condition that a chip mounter motion system model and parameters (such as mass, friction coefficient and viscous resistance coefficient in the system model) in the prior art are unknown. The method comprises the following specific process: establishing a kinetic model of thechip mounter motion system; constructing the binary spline scale function, carrying out translation and telescopic transformation on the binary spline scale function, and establishing a framework on abinary square integrable function space; selecting an appropriate scale according to the established framework and performing function approximation on unmodeled dynamic items in the established model; and designing an intelligent control algorithm according to the established model and the approximation function so that the tracking precision of the chip mounter motion system is improved. The invention belongs to the field of trajectory tracking control of the chip mounter motion system.

Description

technical field [0001] The invention relates to the field of trajectory tracking control of a mounter motion system, in particular to a model identification and an intelligent control method of the mounter motion system. Background technique [0002] The motion system of the placement machine is a very complex mechanical system, so some non-main forces are often ignored when establishing the mathematical model of the motion system of the placement machine, for example, only viscous resistance and Coulomb friction are considered, and other forms of resistance are not considered The impact on the movement of the mounter platform; ignore the high-order items in the effective electromagnetic driving force and some flexible characteristics in the system; simplify the positioning force to a periodic function that changes with the position or directly ignore the impact of the positioning force on the system model Wait. These neglected dynamic models often have a great impact on th...

Claims

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Application Information

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IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/35349
Inventor 高会军刘延斌孙维超
Owner HARBIN INST OF TECH
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