Control method of direct-drive gantry motion platform

A motion platform and control method technology, applied in the direction of adaptive control, comprehensive factory control, general control system, etc., can solve the problem of poor control accuracy of the direct drive gantry motion platform

Active Publication Date: 2021-04-20
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of insufficient compensation of the existing control algorithm for the dynamic characteristics of the direct-drive gantr

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  • Control method of direct-drive gantry motion platform
  • Control method of direct-drive gantry motion platform
  • Control method of direct-drive gantry motion platform

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Embodiment Construction

[0058] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0059] It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict.

[0060] see figure 1 Describe this embodiment, the control method of a direct drive gantry motion platform described in this embodiment, the method includes the following steps:

[0061] Step 1. Real-time acquisition of the motion speed of the direct-drive gantry motio...

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Abstract

The invention discloses a control method of a direct-drive gantry motion platform, and relates to the field of identification and control of direct-drive gantry motion platforms. The problem that an existing control algorithm is insufficient in compensation for the dynamic characteristics of the direct-drive gantry motion platform, and consequently the control precision of the direct-drive gantry motion platform is poor is solved. The method comprises the steps of updating a model through a neural network weight, generating a neural network weight, and sending the neural network weight to a B-spline wavelet neural network online identification model; the B-spline wavelet neural network online identification model being used for generating a feedforward compensation signal unn (t); a robust feedback controller being used for generating a robust feedback compensation signal us (t); and summing the feedforward compensation signal unn (t) and the robust feedback compensation signal us (t) to obtain a control signal u (t), and controlling the direct-drive gantry motion platform by using the control signal u (t). The control method is mainly used for controlling the direct-drive gantry motion platform.

Description

technical field [0001] The invention relates to the field of identification and control of a direct-drive gantry motion platform. Background technique [0002] There are many factors that affect the trajectory tracking control performance of the direct drive gantry motion platform system. The most influential one is some dynamic characteristics that are ignored when designing the model compensation control algorithm for the direct drive gantry motion platform system, such as viscous resistance, Coulomb friction, Positioning force and other forces acting on the direct drive gantry motion platform or external disturbances, etc. In addition, the direct-drive gantry motion platform will be affected by periodic interference and periodic unknown dynamics in the process of tracking the periodic target trajectory. Due to the insufficient compensation of the above-mentioned unknown dynamic characteristics of the direct-drive gantry motion platform by the existing control algorithm, ...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05B13/02
CPCY02P90/02
Inventor 高会军刘延斌孙维超刘志太
Owner HARBIN INST OF TECH
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