Adaptive sliding mode cross-coupling contour control method for three-axis motion platform
An adaptive sliding mode and cross-coupling technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of poor adaptability, low effectiveness, large tracking error, etc., to improve effectiveness and improve Accuracy, effect of reducing tracking error
Active Publication Date: 2022-02-01
SHAANXI TLD ELECTRONICS & TECH CO LTD
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[0004] In view of the above-mentioned deficiencies in the prior art, an adaptive sliding mode cross-coupling contour control method for a three-axis motion platform provided by the present invention solves the problems of large tracking error, poor adaptability and low effectiveness in the control process of the three-axis motion platform
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[0056] The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.
[0057] Such as figure 1 and figure 2 As shown, the three-axis motion platform adaptive sliding mode cross-coupling contour control method includes the following steps:
[0058] S1. Construct and initialize an adaptive sliding mode controller, and connect the adaptive sliding mode controller to the servo controller;
[0059] S2. Input an initial interpolation command signal to the initialized adaptive sliding mode control...
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The invention discloses an adaptive sliding mode cross-coupling contour control method for a three-axis motion platform. The method includes constructing and initializing an adaptive sliding mode controller; inputting an initial interpolation command signal to the initialized adaptive sliding mode controller, Get the initial output result of the servo controller; update the adaptive sliding mode control law and contour error of the adaptive sliding mode controller according to the initial interpolation command signal and the initial output result of the servo controller, and obtain the current adaptive sliding mode control law respectively and the current contour error; the current contour error is sent to the cross-coupling controller, and the compensation control quantity component of the current contour error is obtained through the PID control algorithm; through the superposition of the current adaptive sliding mode control law and the compensation control quantity component of the current contour error As the input of the servo driver to control the actual movement of the three-axis motion platform. The invention improves the adaptability of the sliding mode controller and the effectiveness of the control strategy.
Description
technical field [0001] The invention relates to the field of mechanical control, in particular to an adaptive sliding mode cross-coupling contour control method for a three-axis motion platform. Background technique [0002] In modern manufacturing and processing technology, high-precision multi-axis motion control has always been a research hotspot. There are two kinds of errors in the process of multi-axis trajectory tracking motion, tracking error and contour error. The tracking error is the error between the actual position and the expected position, and the contour error is the distance from the actual position to the expected track. For machining movement, the contour error can better reflect the contour machining accuracy, so the control of contour error has been paid more attention by people. [0003] Scholars at home and abroad have done a lot of research on contour error control for many years. For reducing the contour error, the traditional strategy is to reduce...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李国柱段颖妮白潇孟雪雷俊红
Owner SHAANXI TLD ELECTRONICS & TECH CO LTD