Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Method for improving robustness and contour performance of double-axis or three-axis feed driving system

A system robust and feed-driven technology, applied in control systems, vector control systems, motor control, etc., can solve the problems that affect the contour tracking accuracy of multi-axis motion systems, large contour errors at trajectory turning points, and slow dynamic response speeds, etc. , to achieve the effects of improving transient contour tracking performance, improving motion stability and contour accuracy, and good robustness

Pending Publication Date: 2021-05-11
TIANJIN UNIV OF TECH & EDUCATION TEACHER DEV CENT OF CHINA VOCATIONAL TRAINING & GUIDANCE
View PDF5 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the actual production and processing process, in addition to tracking the linear motion trajectory, it is also necessary to track the complex contour motion trajectory with many turns. The motion inertia of each axis and the untimely response will cause large contour errors and slow dynamic response at the turning point of the trajectory. In addition, there are factors such as nonlinear friction and slow time-varying disturbances in practice, which will affect the contour tracking accuracy of multi-axis motion systems. It is particularly important to study high-precision, high-performance contour control strategies

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for improving robustness and contour performance of double-axis or three-axis feed driving system
  • Method for improving robustness and contour performance of double-axis or three-axis feed driving system
  • Method for improving robustness and contour performance of double-axis or three-axis feed driving system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0074] In the invention, the motion mechanism and multiple electric motors are modeled in a unified manner, combined with the internal model principle, and unmodeled nonlinear friction and slowly time-varying disturbance are suppressed. A two-axis or three-axis position-current predictive controller is designed by a state-space-based model predictive control method, and the contour error and tracking error are added to the value function as internal variables of the two-axis or three-axis feed drive system, and then the model is used The idea of ​​multi-step prediction, rolling optimization and feedback correction in predictive control seeks the control input signal that coordinates and optimizes tracking accuracy and contour accuracy. At the same time, according to the actual needs, considering the constraint conditions, a posteriori constraint limit network of current increment is established; finally, the purpose of improving the tracking and contour control performance of t...

Embodiment 2

[0080] For the model predictive contour control method of the dual-axis feed drive system, the solution in Embodiment 1 will be further introduced below in combination with calculation formulas and examples. See the description below for details:

[0081] (1) Establishment of a unified model of the dual-axis feed drive system

[0082] The mathematical model of the motion mechanism in the dual-axis feed drive system is:

[0083]

[0084] In the formula, k is the current moment, M i is the mass of moving parts; p i is the actual position of the track; for p i a derivative of for p i The second derivative of C i is the viscous friction coefficient of moving parts; f i is the driving force driving the slider movement; F fi is a nonlinear friction that can be regarded as an unknown constant disturbance.

[0085] The motion equation of the permanent magnet synchronous motor driving the dual-axis feed drive system is:

[0086]

[0087] In the formula, J i is the mo...

Embodiment 3

[0127] For the model predictive contour control method of the three-axis feed drive system, the scheme in Embodiment 1 will be further introduced below in combination with calculation formulas and examples. See the description below for details. This embodiment focuses on the parts that are different from Embodiment 2. The same parts will not be repeated:

[0128] (1) Establishment of a unified model of the three-axis feed drive system

[0129] The state equation of the three-axis feed drive system can be expressed as:

[0130]

[0131] In the formula, Δi q (k)=[Δi qx T (k) Δi qy T (k) Δi qz T (k)] T ;y(k)=[θ x (k) θ y (k) θ z (k)] T ;x(k)=[θ x (k) θ x (k-1) θ x (k-2) θ y (k) θ y (k-1) θ y (k-2) θ z (k) θ z (k-1) θ z (k-2)] T ; Δi qi (k)=[Δi qi (k) Δi qi (k-1)] T ; c i =[1 0 0].

[0132] (2) Multi-step prediction

[0133] The matrix of multi-step prediction output is:

[0134] Y=Fx(k)+GΔI q (15)

[0135] In the formula, Y=[y T (k+1)y T...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a method for improving robustness and contour performance of a double-axis or three-axis feed driving system. The method comprises the steps: taking a movement mechanism and a plurality of motors as a whole for unified modeling, and restraining the non-linear friction and slow time-varying disturbance which are not modeled by combining the internal model principle; designing a double-axis or three-axis position-current prediction controller through a model prediction control method based on a state space, taking contour errors and tracking errors as internal variables of a double-axis or three-axis feed driving system and are added into a value function, and then acquiring the value function of the double-axis or three-axis feed driving system through the thoughts of multi-step prediction, rolling optimization and feedback correction in model prediction control; performing optimization to obtain a control input signal which enables the tracking precision and the contour precision to be coordinated optimally; according to actual requirements, considering constraint conditions, and establishing a posteriori constraint limiting network of current increment; and finally, achieving the purpose of improving the tracking and contour control performance of the double-shaft or three-shaft feed driving system.

Description

technical field [0001] The invention relates to the field of servo drive control, in particular to a method for improving the robustness and profile performance of a two-axis or three-axis feed drive system. Background technique [0002] The multi-axis motion system driven by permanent magnet synchronous motor has broad application prospects in the field of high-speed and high-precision modern numerical control technology due to its advantages in power density, operating efficiency, and response speed. Contour machining accuracy is an important performance index of multi-axis motion control technology. In the tracking control of multi-axis contour trajectory, the contour accuracy of multi-axis contour tracking is usually evaluated by contour error. Contour errors will eventually be reflected on the product, which will reduce the accuracy of the product. Therefore, reducing contour error to improve contour accuracy is of great significance to multi-axis motion control. [0...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): H02P5/46H02P6/04H02P21/00H02P21/22H02P25/022
CPCH02P5/46H02P6/04H02P21/0003H02P21/22H02P25/022H02P2207/05H02P2006/045
Inventor 张秀云王志强方沂徐征
Owner TIANJIN UNIV OF TECH & EDUCATION TEACHER DEV CENT OF CHINA VOCATIONAL TRAINING & GUIDANCE
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com