Multi-degree-of-freedom displacement platform control decoupling method and device
A technology of displacement platform and degree of freedom, which is applied in the direction of adaptive control, general control system, control/regulation system, etc.
Active Publication Date: 2020-04-28
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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[0003] For the hardware implementation of the multi-degree-of-freedom displacement platform, there are different structural design methods according to different requirements. However, due to reasons such as design, assembly, debugging, and testing, there is a certain coupling phenomenon between the multiple degrees of freedom of the displacement platform.
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[0033] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.
[0034] Please refer to figure 1 , figure 1 It is a flow chart of a multi-degree-of-freedom displacement platform control decoupling method provided by an embodiment of the present invention. It can be seen from the figure that the method includes the following steps:
[0035] S10: Randomly generate M groups of voltage vectors U m , s...
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The invention discloses a multi-degree-of-freedom displacement platform control decoupling method and device. The method comprises the following steps: randomly generating M groups of voltage vectorsUm, sequentially inputting the M groups of voltage vectors Um to all driving parts of a displacement platform according to groups of voltage vectors so as to sequentially drive the displacement platform to move according to each group of voltage vectors, and correspondingly acquiring M groups of motion quantity vectors Pm of the displacement platform; according to the M groups of voltage vectors Um and the M groups of motion quantity vectors Pm, calculating a first matrix K for describing the influence proportion of each driving part of the displacement platform on each degree of freedom of the displacement platform based on a preset formula; and according to the first matrix K, acquiring parameters for describing the an input relation of all the driving parts when all the degrees of freedom of the displacement platform generate the unit motion amount. According to the method and the device, decoupling of motion control of each degree of freedom of the multi-degree-of-freedom displacement platform is realized, the input relationship of all driving parts when each degree of freedom of the displacement platform generates a unit motion amount can be solved, and the problems in the prior art are solved.
Description
technical field [0001] The invention relates to the technical field of displacement platform control, in particular to a control decoupling method and device for a multi-degree-of-freedom displacement platform. Background technique [0002] With the development of precision instruments and equipment, precision displacement platforms have been widely used, such as in precision optical instruments, precision testing equipment, medical equipment and other fields. At the same time, in order to ensure that the precision displacement platform has better response speed, higher positioning accuracy and positioning stability, higher requirements are also put forward for the control system, control scheme, and control algorithm of the displacement platform. [0003] For the hardware implementation of the multi-degree-of-freedom displacement platform, there are different structural design methods according to different requirements. However, due to reasons such as design, assembly, deb...
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Login to View More IPC IPC(8): G05B13/04G06F17/16
CPCG05B13/042G06F17/16
Inventor 李强周烽王辉王丽萍金春水
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI