Method and system for controlling three-coordinate measuring machine
A three-coordinate measuring machine and control system technology, applied in the control system, DC motor speed/torque control, excitation or armature current control, etc., can solve the system high-frequency chattering, precision reduction, aggravated system chattering, etc. problems, achieve the effect of suppressing system disturbance, improving control accuracy and eliminating chattering
Active Publication Date: 2021-06-11
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology
However, in the traditional sliding mode control, the sliding mode control can only guarantee the gradual convergence of the system state, and cannot converge within a limited time, which makes it impossible to achieve higher precision
On the other hand, the high-frequency switching of the control structure will cause high-frequency chattering of the system, which will also lead to a decrease in precision. In order to ensure the stability of the system, a large value must be selected for the coefficient of the switching item to meet the stability conditions, which also aggravates the chattering
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[0017] The present invention will be described in further detail below in conjunction with specific embodiment and with reference to accompanying drawing, it should be emphasized that following description is only exemplary, and is not intended to limit the scope of the present invention and its application.
[0018] This embodiment provides a three-coordinate measuring machine, including: a three-coordinate measuring machine body, a drive system, a control system and a host computer system. Among them, the three-coordinate measuring machine body includes a probe unit; the upper computer system is used to set motion commands and display data acquisition results; the control system can use a digital signal processing (DSP) control system for data processing and sending to the motor drive system Control commands; the drive system can use a DC servo motor drive system to receive control commands and complete the control of the probe unit on the three-coordinate measuring machine. ...
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The invention provides a method and system for controlling a three-coordinate measuring machine, and the system comprises a current regulator and a rotating speed regulator which are designed in a double closed loop mode, wherein the current regulator is a PI controller, and the rotating speed regulator is a self-adaptive sliding mode controller using a nonlinear sliding mode surface. According to the control system, the self-adaptive sliding mode controller is adopted, a nonlinear sliding mode surface is adopted, system disturbance can be effectively restrained, it is guaranteed that the system state can be converged to the original point within finite time after the system enters the sliding mode surface, and the control precision can be obviously improved.
Description
technical field [0001] The present invention relates to the technical field of three-coordinate measuring machines, in particular to a control method and system for three-coordinate measuring machines. Background technique [0002] Since the beginning of the 21st century, the precision level of precision and ultra-precision manufacturing has developed towards the micron and nanometer level. At present, the precision of precision manufacturing has reached the micron-submicron level, and the ultra-precision manufacturing has reached the nanometer level. The continuous improvement of processing accuracy has also affected the measurement accuracy. put forward higher requirements. [0003] Three-coordinate measuring machine is one of the most important measuring instruments in the current industrial application scenarios, and it often uses DC servo motors for motion control. In the speed control of DC servo motors, a double closed-loop control structure is often used, and for th...
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IPC IPC(8): H02P7/00H02P7/06
CPCH02P7/00H02P7/06
Inventor 梁斌唐榕氚邵可徐峰王学谦
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV