Trajectory tracking control method of biaxial motion control system
A motion control system and control method technology, applied in general control systems, control/regulation systems, digital control, etc., can solve problems such as inability to guarantee contour errors, and achieve the goal of improving anti-interference performance, speeding up dynamic response, and improving tracking accuracy. Effect
Active Publication Date: 2020-11-13
SOUTHEAST UNIV +1
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Problems solved by technology
[0005]The advanced single-axis motion control algorithm can improve the single-axis tracking accuracy to a certain extent, but it cannot guarantee that it can effectively reduce the contour error of the system, so the contour controller Design is integral to improving overall system performance
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Embodiment 1
[0070] Embodiment 1: The present invention provides a control method based on non-singular terminal sliding mode control and cross-coupling control applied to a dual-axis motion control system. The specific steps are as follows:
[0071] In step 1, the load torque, friction torque, tracking error of the current loop and unknown inter-axis interference of the single axis of the system are regarded as the lumped interference of the single axis, and the model of the motion control system of the permanent magnet synchronous motor is established; the specific process is as follows:
[0072] Single-axis permanent magnet synchronous motor motion control system in i d =0 The model under vector control is as follows:
[0073]
[0074] Among them, θ is the position signal of the motor, ω is the electrical angle, n p is the number of pole pairs of the motor, ψ f is the magnetic link, i q is the q-axis current of the motor, J is the moment of inertia, B is the coefficient of viscous...
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The invention designs a trajectory tracking control method of a biaxial motion control system. A non-singular terminal sliding mode control and cross coupling control combined composite control methodbased on an extended state observer is adopted. The method comprises the steps of: firstly, establishing a system model by taking load torque, friction torque, tracking errors of a current loop and inter-axis interference in a permanent magnet synchronous motor motion control system as lumped interference of the system; designing a nonsingular terminal sliding mode control algorithm based on an extended state observer according to mathematical models of two single-axis motors so as to improve the anti-interference performance and the tracking precision of a single axis; establishing an estimation model of a system contour error by adopting a circular contour approximation method, and calculating a contour error between two axes in real time; and finally, correcting the contour error basedon a cross-coupling contour controller of a PI control algorithm, and distributing the contour error to the two axes for compensation according to a contour error model. The dynamic response speed ofthe system is improved, the tracking precision and contour precision of the system are improved, and the anti-interference capability of the system is improved.
Description
technical field [0001] The invention relates to a trajectory tracking control method applied to a dual-axis motion control system of a permanent magnet synchronous motor, in particular to a composite control method based on an extended state observer that combines non-singular terminal sliding mode control and cross-coupling control, belonging to The dual-axis motion control system coordinates the control field. Background technique [0002] With the development of permanent magnet synchronous motor motion control technology, the requirements for the control accuracy of the dual-axis motion control system are getting higher and higher. In the permanent magnet synchronous motor dual-axis motion control system, not only the friction disturbance of the motor itself, load disturbance, and model parameter changes, but also system uncertainties such as inter-axis interference, so a high-performance and high-precision controller is designed It is very important to apply to the dua...
Claims
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IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/35349
Inventor 李世华周丹桂建伟曹为理杨俊孙振兴
Owner SOUTHEAST UNIV