A control method of a 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, and achieve the effect of precise control

Active Publication Date: 2022-05-31
HARBIN INST OF TECH
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  • Claims
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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 gantry motion platform, resulting in poor control accuracy of the direct-drive gantry motion platform. The present invention provides a control method for the direct-drive gantry motion platform

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  • A control method of a direct drive gantry motion platform
  • A control method of a direct drive gantry motion platform
  • A control method of a 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

A control method for a direct-drive gantry motion platform relates to the field of identification and control of a direct-drive gantry motion platform. The problem of insufficient compensation of the existing control algorithm for the dynamic characteristics of the direct-drive gantry motion platform, resulting in poor control accuracy of the direct-drive gantry motion platform, is solved. The present invention includes the following process, through the neural network weight update model, the neural network weight is generated and the neural network weight is sent to the B-spline wavelet neural network online identification model; the B-spline wavelet neural network online identification model is used to generate Feedforward compensation signal u nn (t); the robust feedback controller is used to generate the robust feedback compensation signal u s (t); then the feed-forward compensation signal u nn (t) and the robust feedback compensation signal u s (t) are summed to obtain the control signal u(t), which is used to control the direct drive gantry motion platform. The invention 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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Patent Type & Authority Patents(China)
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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