Three-axis servo system decoupling control method based on fuzzy self-adaption

Abstract

The invention provides a three-axis servo system decoupling control method based on fuzzy self-adaption, a three-axis servo system is used for driving a working part and enabling the working part to move according to a set track, and the method comprises the steps that a space coordinate system is established with the initial position of the working part as an original point; obtaining an actual motion profile and a required motion profile according to the required position and the actual position of the working part; then, a contour error is obtained; obtaining an ideal position based on the contour error and the required position; a position error is obtained based on the ideal position and the actual position, and a fuzzy P controller is combined based on the position error to control a driving motor. According to the invention, on the basis of the fuzzy adaptive control and cross coupling feedforward decoupling technology, the problems of contour errors and mismatching among axes are reduced, and high-precision multi-axis decoupling control is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a decoupling control method for a three-axis servo system based on fuzzy adaptation. Background Art

[0002] Advanced motion control plays an increasingly important role in the rapid development of the national economy. High speed, high precision, synchronous control, and multi-axis coordinated control are currently important research directions in motion control. In industrial operations such as multi-axis machining, painting, and welding, multi-axis machining is required to move along a predetermined reference trajectory to complete the intended task. This type of motion is called multi-axis contour motion. In multi-axis contour motion, contour error (the normal distance from a point on the actual trajectory to the reference trajectory) is a more important performance indicator than position tracking error (the distance between the actual position and the reference position at the sampling moment). In practical applications, for simplicity and ease, single-axis decoupling control is often used, that is, the reference trajectory is decomposed into reference commands in each axis direction, and each axis independently tracks its own reference command, thereby reducing the controller design to the independent design of the controller for each axis.

[0003] To improve workpiece contour control accuracy, many researchers have devoted themselves to researching various feedforward / feedback control strategies to enhance single-axis tracking accuracy, thereby indirectly improving contour control accuracy. These strategies, such as zero-phase-error tracking control and computed torque control, are designed to improve single-axis tracking accuracy, thereby indirectly improving contour control accuracy. However, the reality is that reducing single-axis tracking error does not necessarily lead to a reduction in contour error. Generally speaking, the causes of contour error can be categorized into three categories: mismatched gain parameters between axes, external disturbances, and nonlinear trajectory and angle contour shapes. Single-axis decoupling control can improve the matching of axis gain parameters through feedforward / feedback control. However, for external disturbances caused by friction and model uncertainty, decoupling control can sometimes compromise overall system performance. When a single axis is disturbed, the other axes still assume it is operating normally, failing to implement the necessary coordination measures to mitigate the impact of this axis's performance degradation on overall performance. For different contour shapes, such as various nonlinear contours and angles, decoupling control also fails to consider the impact of the reference trajectory's geometric characteristics on the system's contour performance. For high-speed and high-curvature applications, conventional single-axis decoupling control often leads to severe degradation of contour performance. Summary of the Invention

[0004] The purpose of the present invention is to provide a decoupling control method for a three-axis servo system based on fuzzy adaptation, which reduces contour errors and mismatch problems between axes based on fuzzy adaptive control and cross-coupling feedforward decoupling technology, and realizes high-precision multi-axis decoupling control.

[0005] A decoupling control method for a three-axis servo system based on fuzzy adaptation, wherein the three-axis servo system is used to drive a working component so that the working component moves along a set trajectory, and the method includes:

[0006] The three axes of the three-axis servo system are defined as X-axis, Y-axis and Z-axis respectively;

[0007] A spatial coordinate system is established with the initial position of the working part as the origin, the driving direction of the X-axis as the x-axis, the driving direction of the Y-axis as the y-axis, and the driving direction of the Z-axis as the z-axis;

[0008] Obtain the actual X-axis position, required X-axis position, actual Y-axis position, required Y-axis position, actual Z-axis position, and required Z-axis position of the working part at time 0-t;

[0009] The actual motion profile of the working component at time 0-t is obtained based on the actual X-axis position, the actual Y-axis position, and the actual Z-axis position of the working component at time 0-t; the required motion profile of the working component at time 0-t is obtained based on the required X-axis position, the required Y-axis position, and the required Z-axis position of the working component at time 0-t;

[0010] According to the actual motion profile and the required motion profile of the working part at time 0-t, the X-axis profile error, Y-axis profile error and X-axis profile error at time t are obtained;

[0011] The ideal X-axis position at time t is obtained based on the X-axis contour error and the X-axis required position at time t; the ideal Y-axis position at time t is obtained based on the Y-axis contour error and the Y-axis required position at time t; and the ideal Z-axis position at time t is obtained based on the Z-axis contour error and the Z-axis required position at time t;

[0012] The X-axis position error at time t is obtained based on the ideal X-axis position and the actual X-axis position at time t; the Y-axis position error at time t is obtained based on the ideal Y-axis position and the actual Y-axis position at time t; and the Z-axis position error at time t is obtained based on the ideal Z-axis position and the actual Z-axis position at time t;

[0013] Based on the X-axis position error at time t, a fuzzy P controller is used to obtain the ideal X-axis speed at time t+1. Based on the Y-axis position error at time t, a fuzzy P controller is used to obtain the ideal Y-axis speed at time t+1. Based on the Z-axis position error at time t, a fuzzy P controller is used to obtain the ideal Z-axis speed at time t+1.

[0014] Based on the ideal X-axis speed at time t+1, the α-axis ideal voltage and β-axis ideal voltage of the X-axis drive motor at time t+1 are obtained; based on the ideal Y-axis speed at time t+1, the α-axis ideal voltage and β-axis ideal voltage of the Y-axis drive motor at time t+1 are obtained; based on the ideal Z-axis speed at time t+1, the α-axis ideal voltage and β-axis ideal voltage of the Z-axis drive motor at time t+1 are obtained;

[0015] Based on the α-axis ideal voltage and β-axis ideal voltage of the X-axis drive motor at time t+1, an X-axis control signal is obtained to control the X-axis drive motor. Based on the α-axis ideal voltage and β-axis ideal voltage of the Y-axis drive motor at time t+1, a Y-axis control signal is obtained to control the Y-axis drive motor. Based on the α-axis ideal voltage and β-axis ideal voltage of the Z-axis drive motor at time t+1, a Z-axis control signal is obtained to control the Z-axis drive motor.

[0016] Optionally, the X-axis profile error, Y-axis profile error, and X-axis profile error at time t are obtained according to the actual motion profile and the required motion profile of the working component at time 0-t, and the expressions are:

[0017]

[0018] Where: is the X-axis profile error at time t, is the Y-axis profile error at time t, is the Z-axis profile error at time t, is the X-axis profile error at time t-1, is the Y-axis profile error at time t-1, is the Z-axis profile error at time t-1, χ is the angle between the required motion profile at time t and the y-axis after being projected to the xy quadrant, δ is the angle between the required motion profile at time t and the z-axis after being projected to the xz quadrant,

[0019] x t is the x-axis coordinate value of the motion profile required at time t, y t is the y-axis coordinate value of the motion profile required at time t, z t is the z-axis coordinate value of the required motion profile at time t, is the x-axis tracking error of the actual motion profile at time t, x t+1+m is the x-axis coordinate value of the actual motion profile at time t, y t+1+m is the y-axis coordinate value of the actual motion profile at time t, z t+1+m is the z-axis coordinate value of the actual motion profile at time t.

[0020] Optionally, the ideal X-axis position at time t is obtained based on the X-axis profile error and the X-axis required position at time t, the ideal Y-axis position at time t is obtained based on the Y-axis profile error and the Y-axis required position at time t, and the ideal Z-axis position at time t is obtained based on the Z-axis profile error and the Z-axis required position at time t, specifically:

[0021] The X-axis contour error at time t is compensated to the X-axis required position at time t to obtain the X-axis ideal position at time t. The Y-axis contour error at time t is compensated to the Y-axis required position at time t to obtain the X-axis ideal position at time t. The Z-axis contour error at time t is compensated to the Z-axis required position at time t to obtain the X-axis ideal position at time t.

[0022] Optionally, the fuzzy P controller includes a fuzzy controller and a P controller;

[0023] The fuzzy controller obtains the X-axis adjustment value at time t+1 based on the X-axis position error and the X-axis error conversion rate at time t, obtains the Y-axis adjustment value at time t+1 based on the Y-axis position error and the Y-axis error conversion rate at time t, and obtains the Z-axis adjustment value at time t+1 based on the Z-axis position error and the Z-axis error conversion rate at time t;

[0024] The P controller obtains the ideal X-axis speed at time t+1 based on the X-axis adjustment amount at time t+1, the ideal Y-axis speed at time t+1 based on the Y-axis adjustment amount at time t+1, and the ideal Z-axis speed at time t+1 based on the Z-axis adjustment amount at time t+1.

[0025] Optionally, the fuzzy controller is specifically:

[0026] The theoretical domain of position error is divided into a large positive domain, a medium positive domain, a small positive domain, a zero positive domain, a small negative domain, a medium negative domain and a large negative domain;

[0027] The theoretical domain of the error conversion rate is divided into the error conversion positive large domain, the error conversion positive medium domain, the error conversion positive small domain, the error conversion zero domain, the error conversion negative small domain, the error conversion negative medium domain and the error conversion negative large domain;

[0028] The theoretical domain of the regulating amount is divided into a large positive regulating amount domain, a medium regulating amount domain, a small positive regulating amount domain, a zero regulating amount domain, a small negative regulating amount domain, a medium negative regulating amount domain and a large negative regulating amount domain;

[0029] If the position error is within the positive large range of the position error and the error conversion rate is within the positive large range of the error conversion, then the adjustment amount is within the positive large range of the adjustment amount; if the position error is within the positive large range of the position error and the error conversion rate is within the positive medium range of the error conversion, then the adjustment amount is within the positive medium range of the adjustment amount; if the position error is within the positive large range of the position error and the error conversion rate is within the positive small range of the error conversion, then the adjustment amount is within the positive medium range of the adjustment amount; if the position error is within the positive large range of the position error and the error conversion rate is within the zero range of the error conversion, then the adjustment amount is within the positive small range of the adjustment amount; if the position error is within the positive large range of the position error and the error conversion rate is within the negative small range of the error conversion, then the adjustment amount is within the positive small range of the adjustment amount; if the position error is within the positive large range of the position error and the error conversion rate is within the negative medium range of the error conversion, then the adjustment amount is within the positive small range of the adjustment amount; if the position error is within the positive large range of the position error and the error conversion rate is within the negative large range of the error conversion, then the adjustment amount is within the negative small range of the adjustment amount;

[0030] If the position error is within the positive range of the position error and the error conversion rate is within the positive large range of the error conversion, then the adjustment amount is within the positive range of the adjustment amount; if the position error is within the positive range of the position error and the error conversion rate is within the positive range of the error conversion, then the adjustment amount is within the positive small range of the adjustment amount; if the position error is within the positive range of the position error and the error conversion rate is within the positive small range of the error conversion, then the adjustment amount is within the positive small range of the adjustment amount; if the position error is within the positive range of the position error and the error conversion rate is within the zero range of the error conversion, then the adjustment amount is within the zero range of the adjustment amount; if the position error is within the positive range of the position error and the error conversion rate is within the negative small range of the error conversion, then the adjustment amount is within the zero range of the adjustment amount; if the position error is within the positive range of the position error and the error conversion rate is within the negative middle range of the error conversion, then the adjustment amount is within the zero range of the adjustment amount; if the position error is within the positive range of the position error and the error conversion rate is within the negative large range of the error conversion, then the adjustment amount is within the negative small range of the adjustment amount;

[0031] If the position error is within the positive small range of the position error and the error conversion rate is within the positive large range of the error conversion, then the adjustment amount is within the positive small range of the adjustment amount; if the position error is within the positive small range of the position error and the error conversion rate is within the positive medium range of the error conversion, then the adjustment amount is within the positive small range of the adjustment amount; if the position error is within the positive small range of the position error and the error conversion rate is within the positive small range of the error conversion, then the adjustment amount is within the positive small range of the adjustment amount; if the position error is within the positive small range of the position error and the error conversion rate is within the zero range of the error conversion, then the adjustment amount is within the zero range of the adjustment amount; if the position error is within the positive small range of the position error and the error conversion rate is within the negative small range of the error conversion, then the adjustment amount is within the negative small range of the adjustment amount; if the position error is within the positive small range of the position error and the error conversion rate is within the negative medium range of the error conversion, then the adjustment amount is within the negative small range of the adjustment amount; if the position error is within the positive small range of the position error and the error conversion rate is within the negative large range of the error conversion, then the adjustment amount is within the negative small range of the adjustment amount;

[0032] If the position error is within the zero domain of the position error and the error conversion rate is within the positive large domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the zero domain of the position error and the error conversion rate is within the positive medium domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the zero domain of the position error and the error conversion rate is within the positive small domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the zero domain of the position error and the error conversion rate is within the zero domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the zero domain of the position error and the error conversion rate is within the negative small domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the zero domain of the position error and the error conversion rate is within the negative medium domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the zero domain of the position error and the error conversion rate is within the negative large domain of the error conversion, then the adjustment amount is within the negative medium domain of the adjustment amount;

[0033] If the position error is within the negative small range of the position error and the error conversion rate is within the positive large range of the error conversion, then the adjustment amount is within the zero range of the adjustment amount; if the position error is within the negative small range of the position error and the error conversion rate is within the positive small range of the error conversion, then the adjustment amount is within the positive small range of the adjustment amount; if the position error is within the negative small range of the position error and the error conversion rate is within the positive small range of the error conversion, then the adjustment amount is within the zero range of the adjustment amount; if the position error is within the negative small range of the position error and the error conversion rate is within the negative small range of the error conversion, then the adjustment amount is within the negative small range of the adjustment amount; if the position error is within the negative small range of the position error and the error conversion rate is within the negative small range of the error conversion, then the adjustment amount is within the negative small range of the adjustment amount; if the position error is within the negative small range of the position error and the error conversion rate is within the negative medium range of the error conversion, then the adjustment amount is within the negative medium range of the adjustment amount; if the position error is within the negative small range of the position error and the error conversion rate is within the negative large range of the error conversion, then the adjustment amount is within the negative medium range of the adjustment amount;

[0034] If the position error is within the negative middle region of the position error and the error conversion rate is within the positive large region of the error conversion, then the adjustment amount is within the negative small region of the adjustment amount; if the position error is within the negative middle region of the position error and the error conversion rate is within the positive middle region of the error conversion, then the adjustment amount is within the zero region of the adjustment amount; if the position error is within the negative middle region of the position error and the error conversion rate is within the positive small region of the error conversion, then the adjustment amount is within the negative small region of the adjustment amount; if the position error is within the negative middle region of the position error and the error conversion rate is within the negative small region of the error conversion, then the adjustment amount is within the negative middle region of the adjustment amount; if the position error is within the negative middle region of the position error and the error conversion rate is within the negative middle region of the error conversion, then the adjustment amount is within the negative middle region of the adjustment amount; if the position error is within the negative middle region of the position error and the error conversion rate is within the negative large region of the error conversion, then the adjustment amount is within the negative middle region of the adjustment amount;

[0035] If the position error is within the large negative domain of the position error and the error conversion rate is within the large positive domain of the error conversion, then the adjustment amount is within the small negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the medium positive domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the small positive domain of the error conversion, then the adjustment amount is within the small negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the zero domain of the error conversion, then the adjustment amount is within the medium negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the small negative domain of the error conversion, then the adjustment amount is within the medium negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the medium negative domain of the error conversion, then the adjustment amount is within the medium negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the large negative domain of the error conversion, then the adjustment amount is within the large negative domain of the adjustment amount.

[0036] Optionally, the α-axis ideal voltage and the β-axis ideal voltage of the X-axis drive motor at time t+1 are obtained based on the X-axis ideal speed at time t+1, the α-axis ideal voltage and the β-axis ideal voltage of the Y-axis drive motor at time t+1 are obtained based on the Y-axis ideal speed at time t+1, and the α-axis ideal voltage and the β-axis ideal voltage of the Z-axis drive motor at time t+1 are obtained based on the Z-axis ideal speed at time t+1, specifically:

[0037] Construct a geometric coordinate model of the drive motor; the geometric coordinate model includes the d-axis, q-axis, α-axis and β-axis; the d-axis is the direction of the drive motor rotor flux, the q-axis leads the d-axis by 90°, and the angle between the d-axis and the α-axis is the drive motor rotor electrical angle θ e , β axis leads α axis by 90;

[0038] Based on the ideal X-axis speed at time t+1 and the speed controller, the q-axis ideal current and the d-axis ideal current of the X-axis drive motor at time t+1 are obtained. Based on the ideal Y-axis speed at time t+1 and the speed controller, the q-axis ideal current and the d-axis ideal current of the Y-axis drive motor at time t+1 are obtained. Based on the ideal Z-axis speed at time t+1 and the speed controller, the q-axis ideal current and the d-axis ideal current of the Z-axis drive motor at time t+1 are obtained.

[0039] Based on the q-axis ideal current and d-axis ideal current of the X-axis drive motor at time t+1, the q-axis ideal voltage and d-axis ideal voltage of the X-axis drive motor at time t+1 are obtained; based on the q-axis ideal current and d-axis ideal current of the Y-axis drive motor at time t+1, the q-axis ideal voltage and d-axis ideal voltage of the Y-axis drive motor at time t+1 are obtained; based on the q-axis ideal current and d-axis ideal current of the Z-axis drive motor at time t+1, the q-axis ideal voltage and d-axis ideal voltage of the Z-axis drive motor at time t+1 are obtained;

[0040] Performing inverse Park transformation on the q-axis ideal voltage and the d-axis ideal voltage of the X-axis drive motor at time t+1 obtains the α-axis ideal voltage and the β-axis ideal voltage of the X-axis drive motor at time t+1, performing inverse Park transformation on the q-axis ideal voltage and the d-axis ideal voltage of the Y-axis drive motor at time t+1 obtains the α-axis ideal voltage and the β-axis ideal voltage of the Y-axis drive motor at time t+1, and performing inverse Park transformation on the q-axis ideal voltage and the d-axis ideal voltage of the Z-axis drive motor at time t+1 obtains the α-axis ideal voltage and the β-axis ideal voltage of the Z-axis drive motor at time t+1.

[0041] Optionally, based on the q-axis ideal current and d-axis ideal current of the X-axis drive motor at time t+1, the expressions for the q-axis ideal voltage and d-axis ideal voltage of the X-axis drive motor at time t+1 are:

[0042]

[0043] Where: u d is the ideal voltage of the d-axis of the X-axis drive motor at time t+1, u q is the ideal voltage of the q-axis of the X-axis drive motor at time t+1, R s is the stator resistance of the driving motor, i d is the ideal current of the d-axis driving motor of the X-axis at time t+1, i q is the ideal current of the q-axis driving motor of the X-axis at time t+1, ψ d is the ideal d-axis magnetic flux of the X-axis drive motor at time t+1, ψ q is the ideal magnetic flux of the X-axis drive motor on the q-axis at time t+1, ω e is the rotor angular velocity of the drive motor, ω e =pω m , p is the number of pole pairs of the drive motor, ω m is the ideal speed of the X-axis at time t+1, L d is the d-axis inductance of the X-axis drive motor, L q is the q-axis inductance of the X-axis drive motor, ψ f is the permanent magnet flux of the X-axis drive motor.

[0044] Optionally, the q-axis ideal voltage and the d-axis ideal voltage of the X-axis drive motor at time t+1 are subjected to an inverse Park transform to obtain the α-axis ideal voltage and the β-axis ideal voltage of the X-axis drive motor at time t+1, and the expression is:

[0045]

[0046] Where: u α is the ideal voltage of the α-axis of the X-axis drive motor at time t+1, u βThe ideal voltage of the β axis of the X-axis drive motor at time t+1 is

[0047] The effects of the present invention are as follows:

[0048] The present invention is based on a fuzzy adaptive decoupling control method for a three-axis servo system. It adopts fuzzy adaptive control and cross-coupling feedforward decoupling technology to effectively solve the coupling problem between multiple axes, significantly reduce contour errors and mismatch problems between axes, and achieve high-precision multi-axis decoupling control.

[0049] The present invention is based on a fuzzy adaptive decoupling control method for a three-axis servo system. Through the adaptive adjustment of the fuzzy controller, it effectively copes with load disturbances and end jitter of the servo system, and improves the anti-disturbance capability under complex load conditions.

[0050] The present invention is based on a fuzzy adaptive decoupling control method for a three-axis servo system. It can accurately track the target trajectory under various complex trajectory conditions (such as spatial circles, straight lines, spirals, etc.), and still maintain a high-precision trajectory tracking effect when disturbances are applied.

[0051] The present invention is based on a fuzzy adaptive decoupling control method for a three-axis servo system, which can achieve fast and stable response in a high-speed servo system and ensure efficient control in a dynamic load environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a flow chart of the decoupling control method of the three-axis servo system based on fuzzy self-adaptation of the present invention;

[0053] Figure 2 Schematic diagram of the geometric coordinate model of the drive motor of the present invention;

[0054] Figure 3 Schematic diagram of the actual motion profile and the required motion profile of the present invention;

[0055] Figure 4 This is a schematic diagram of the results of the three-axis servo system driving the working components of the present invention;

[0056] Figure 5 Schematic diagram of the three-axis servo system driving the working component to track the sinusoidal single-axis contour error of the present invention;

[0057] Figure 6 This is a schematic diagram of the final result of the three-axis servo system of the present invention driving the working component to track the sine wave;

[0058] Figure 7 This is a schematic diagram of the tracking result after the driving working component of the three-axis servo system of the present invention applies a load disturbance to the driving motor;

[0059] Figure 8This is a schematic diagram of the tracking result when the three-axis servo system of the present invention drives the working component to perform linear motion;

[0060] Figure 9 It is a schematic diagram of the tracking result when the three-axis servo system of the present invention drives the working component to perform spiral motion. DETAILED DESCRIPTION

[0061] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0062] Figure 1 This is a flow chart of the decoupling control method of the three-axis servo system based on fuzzy self-adaptation of the present invention. Figure 1 As shown, the present invention provides a decoupling control method for a three-axis servo system based on fuzzy adaptation. The three-axis servo system is used to drive a working part so that the working part moves along a set trajectory. The method includes:

[0063] S1, define the three axes of the three-axis servo system as X-axis, Y-axis and Z-axis respectively.

[0064] S2, establish a spatial coordinate system with the initial position of the working part as the origin, the driving direction of the X axis as the x-axis, the driving direction of the Y axis as the y-axis, and the driving direction of the Z axis as the z-axis.

[0065] S3, obtaining the actual X-axis position, the required X-axis position, the actual Y-axis position, the required Y-axis position, the actual Z-axis position, and the required Z-axis position of the working component at time 0-t.

[0066] S4, based on the actual X-axis position, Y-axis position, and Z-axis position of the working component at time 0-t, the actual motion profile of the working component at time 0-t is obtained; based on the required X-axis position, Y-axis position, and Z-axis position of the working component at time 0-t, the required motion profile of the working component at time 0-t is obtained. Figure 3 As shown, Figure 3 In the equation, N1 is the required position point of the working component at time t, N2 is the actual position point of the working component at time t, N′1 is the position point after N1 is projected to the xy quadrant, and N′2 is the position point after N2 is projected to the xy quadrant. Figure 3 It can be seen that the movement of the working part is affected by the contour error and following error, and the contour error and following error need to be reduced. The movement of the working part will eventually manifest as a contour error.

[0067] S5, according to the actual motion profile of the working part at time 0-t and the required motion profile, the X-axis profile error, the Y-axis profile error and the X-axis profile error at time t are obtained. The expression is:

[0068]

[0069] Where: is the X-axis profile error at time t, is the Y-axis profile error at time t, is the Z-axis profile error at time t, is the X-axis profile error at time t-1, is the Y-axis profile error at time t-1, is the Z-axis profile error at time t-1, χ is the angle between the required motion profile at time t and the y-axis after being projected to the xy quadrant, δ is the angle between the required motion profile at time t and the z-axis after being projected to the xz quadrant,

[0070] x t is the x-axis coordinate value of the motion profile required at time t, y t is the y-axis coordinate value of the motion profile required at time t, z t is the z-axis coordinate value of the required motion profile at time t, is the x-axis tracking error of the actual motion profile at time t, x t+1+m is the x-axis coordinate value of the actual motion profile at time t, y t+1+m is the y-axis coordinate value of the actual motion profile at time t, z t+1+m is the z-axis coordinate value of the actual motion profile at time t.

[0071] S6, based on the X-axis contour error and the X-axis required position at time t, obtain the X-axis ideal position at time t; based on the Y-axis contour error and the Y-axis required position at time t, obtain the Y-axis ideal position at time t; based on the Z-axis contour error and the Z-axis required position at time t, obtain the Z-axis ideal position at time t.

[0072] Specifically, the X-axis contour error at time t is compensated to the X-axis required position at time t to obtain the X-axis ideal position at time t, the Y-axis contour error at time t is compensated to the Y-axis required position at time t to obtain the X-axis ideal position at time t, and the Z-axis contour error at time t is compensated to the Z-axis required position at time t to obtain the X-axis ideal position at time t.

[0073] S7, obtain the X-axis position error at time t based on the ideal X-axis position and the actual X-axis position at time t, obtain the Y-axis position error at time t based on the ideal Y-axis position and the actual Y-axis position at time t, and obtain the Z-axis position error at time t based on the ideal Z-axis position and the actual Z-axis position at time t.

[0074] S8, based on the X-axis position error at time t, a fuzzy P controller is used to obtain the ideal X-axis speed at time t+1. Based on the Y-axis position error at time t, a fuzzy P controller is used to obtain the ideal Y-axis speed at time t+1. Based on the Z-axis position error at time t, a fuzzy P controller is used to obtain the ideal Z-axis speed at time t+1.

[0075] The fuzzy P controller includes a fuzzy controller and a P controller.

[0076] The fuzzy controller obtains the X-axis adjustment value at time t+1 based on the X-axis position error and the X-axis error conversion rate at time t, obtains the Y-axis adjustment value at time t+1 based on the Y-axis position error and the Y-axis error conversion rate at time t, and obtains the Z-axis adjustment value at time t+1 based on the Z-axis position error and the Z-axis error conversion rate at time t.

[0077] The P controller obtains the ideal X-axis speed at time t+1 based on the X-axis adjustment amount at time t+1, the ideal Y-axis speed at time t+1 based on the Y-axis adjustment amount at time t+1, and the ideal Z-axis speed at time t+1 based on the Z-axis adjustment amount at time t+1.

[0078] Specifically, as shown in Table 1, the fuzzy controller is as follows:

[0079] The theoretical domain of position error is divided into a large positive domain, a medium domain, a small positive domain, a zero domain, a small negative domain, a medium negative domain and a large negative domain.

[0080] The theoretical domain of the error transformation rate is divided into the error transformation positive large domain, the error transformation positive medium domain, the error transformation positive small domain, the error transformation zero domain, the error transformation negative small domain, the error transformation negative medium domain and the error transformation negative large domain.

[0081] The theoretical domain of the regulation quantity is divided into a large positive domain of the regulation quantity, a medium positive domain of the regulation quantity, a small positive domain of the regulation quantity, a zero domain of the regulation quantity, a small negative domain of the regulation quantity, a medium negative domain of the regulation quantity and a large negative domain of the regulation quantity.

[0082] Preferably, the theoretical range of the position error is [0, 120], the theoretical range of the error conversion rate is [0, 10], and the theoretical range of the adjustment amount is [-70, -30].

[0083] If the position error is within the positive large domain of the position error and the error conversion rate is within the positive large domain of the error conversion, then the adjustment amount is within the positive large domain of the adjustment amount; if the position error is within the positive large domain of the position error and the error conversion rate is within the positive middle domain of the error conversion, then the adjustment amount is within the positive middle domain of the adjustment amount; if the position error is within the positive large domain of the position error and the error conversion rate is within the positive small domain of the error conversion, then the adjustment amount is within the positive middle domain of the adjustment amount; if the position error is within the positive large domain of the position error and the error conversion rate is within the zero domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive large domain of the position error and the error conversion rate is within the negative small domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive large domain of the position error and the error conversion rate is within the negative middle domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive large domain of the position error and the error conversion rate is within the negative large domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount.

[0084] If the position error is within the positive range of the position error and the error conversion rate is within the positive large range of the error conversion, then the adjustment amount is within the positive range of the adjustment amount; if the position error is within the positive range of the position error and the error conversion rate is within the positive range of the error conversion, then the adjustment amount is within the positive small range of the adjustment amount; if the position error is within the positive range of the position error and the error conversion rate is within the positive small range of the error conversion, then the adjustment amount is within the positive small range of the adjustment amount; if the position error is within the positive range of the position error and the error conversion rate is within the zero range of the error conversion, then the adjustment amount is within the zero range of the adjustment amount; if the position error is within the positive range of the position error and the error conversion rate is within the negative small range of the error conversion, then the adjustment amount is within the negative small range of the adjustment amount; if the position error is within the positive range of the position error and the error conversion rate is within the negative middle range of the error conversion, then the adjustment amount is within the zero range of the adjustment amount; if the position error is within the positive range of the position error and the error conversion rate is within the negative middle range of the error conversion, then the adjustment amount is within the zero range of the adjustment amount; if the position error is within the positive range of the position error and the error conversion rate is within the negative large range of the error conversion, then the adjustment amount is within the negative small range of the adjustment amount.

[0085] If the position error is within the positive small domain of the position error and the error conversion rate is within the positive large domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive small domain of the position error and the error conversion rate is within the positive middle domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive small domain of the position error and the error conversion rate is within the positive small domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive small domain of the position error and the error conversion rate is within the zero domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the positive small domain of the position error and the error conversion rate is within the negative small domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the positive small domain of the position error and the error conversion rate is within the negative middle domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the positive small domain of the position error and the error conversion rate is within the negative large domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount.

[0086] If the position error is within the zero domain of position error and the error conversion rate is within the positive large domain of error conversion, then the adjustment amount is within the positive small domain of adjustment amount; if the position error is within the zero domain of position error and the error conversion rate is within the positive medium domain of error conversion, then the adjustment amount is within the positive small domain of adjustment amount; if the position error is within the zero domain of position error and the error conversion rate is within the positive small domain of error conversion, then the adjustment amount is within the zero domain of adjustment amount; if the position error is within the zero domain of position error and the error conversion rate is within the zero domain of error conversion, then the adjustment amount is within the zero domain of adjustment amount; if the position error is within the zero domain of position error and the error conversion rate is within the negative small domain of error conversion, then the adjustment amount is within the negative small domain of adjustment amount; if the position error is within the zero domain of position error and the error conversion rate is within the negative medium domain of error conversion, then the adjustment amount is within the negative small domain of adjustment amount; if the position error is within the zero domain of position error and the error conversion rate is within the negative large domain of error conversion, then the adjustment amount is within the negative medium domain of adjustment amount.

[0087] If the position error is within the negative small domain of the position error and the error conversion rate is within the positive large domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the negative small domain of the position error and the error conversion rate is within the positive medium domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the negative small domain of the position error and the error conversion rate is within the positive small domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the negative small domain of the position error and the error conversion rate is within the zero domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the negative small domain of the position error and the error conversion rate is within the negative small domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the negative small domain of the position error and the error conversion rate is within the negative medium domain of the error conversion, then the adjustment amount is within the negative medium domain of the adjustment amount; if the position error is within the negative small domain of the position error and the error conversion rate is within the negative large domain of the error conversion, then the adjustment amount is within the negative medium domain of the adjustment amount.

[0088] If the position error is within the negative middle domain of the position error and the error conversion rate is within the positive large domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the negative middle domain of the position error and the error conversion rate is within the positive middle domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the negative middle domain of the position error and the error conversion rate is within the positive small domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the negative middle domain of the position error and the error conversion rate is within the negative small domain of the error conversion, then the adjustment amount is within the negative middle domain of the adjustment amount; if the position error is within the negative middle domain of the position error and the error conversion rate is within the negative middle domain of the error conversion, then the adjustment amount is within the negative middle domain of the adjustment amount; if the position error is within the negative middle domain of the position error and the error conversion rate is within the negative large domain of the error conversion, then the adjustment amount is within the negative middle domain of the adjustment amount.

[0089] If the position error is within the large negative domain of the position error and the error conversion rate is within the large positive domain of the error conversion, then the adjustment amount is within the small negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the medium positive domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the small positive domain of the error conversion, then the adjustment amount is within the small negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the zero domain of the error conversion, then the adjustment amount is within the medium negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the small negative domain of the error conversion, then the adjustment amount is within the medium negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the medium negative domain of the error conversion, then the adjustment amount is within the medium negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the large negative domain of the error conversion, then the adjustment amount is within the large negative domain of the adjustment amount.

[0090] Table 1 Fuzzy principle of fuzzy controller

[0091]

[0092] In Table 1, e is the position error, ec is the error change rate, PB is the positive large domain, PM is the positive middle domain, PS is the positive small domain, Z is the zero domain, NS is the negative small domain, NM is the negative middle domain, and NB is the negative large domain.

[0093] S9, based on the ideal X-axis speed at time t+1, obtain the α-axis ideal voltage and β-axis ideal voltage of the X-axis drive motor at time t+1; based on the ideal Y-axis speed at time t+1, obtain the α-axis ideal voltage and β-axis ideal voltage of the Y-axis drive motor at time t+1; based on the ideal Z-axis speed at time t+1, obtain the α-axis ideal voltage and β-axis ideal voltage of the Z-axis drive motor at time t+1.

[0094] S10, based on the α-axis ideal voltage and β-axis ideal voltage of the X-axis drive motor at time t+1, obtain an X-axis control signal to control the X-axis drive motor; based on the α-axis ideal voltage and β-axis ideal voltage of the Y-axis drive motor at time t+1, obtain a Y-axis control signal to control the Y-axis drive motor; based on the α-axis ideal voltage and β-axis ideal voltage of the Z-axis drive motor at time t+1, obtain a Z-axis control signal to control the Z-axis drive motor.

[0095] Preferably, the X-axis control signal required by the inverter is obtained based on the SVPWM module to control the X-axis drive motor, the Y-axis control signal required by the inverter is obtained based on the SVPWM module to control the Y-axis drive motor, and the Z-axis control signal required by the inverter is obtained based on the SVPWM module to control the Z-axis drive motor.

[0096] The S10 includes:

[0097] S101, constructing a geometric coordinate model of the drive motor; the geometric coordinate model includes the d-axis, q-axis, α-axis and β-axis; the d-axis is the direction of the drive motor rotor flux, the q-axis leads the d-axis by 90°, and the angle between the d-axis and the α-axis is the drive motor rotor electrical angle θ e , the β axis leads the α axis by 90, as Figure 2 As shown, Figure 2 in,i s is the stator current.

[0098] S102, based on the ideal X-axis speed at time t+1 in combination with the speed controller, obtain the q-axis ideal current and d-axis ideal current of the X-axis drive motor at time t+1, based on the ideal Y-axis speed at time t+1 in combination with the speed controller, obtain the q-axis ideal current and d-axis ideal current of the Y-axis drive motor at time t+1, based on the ideal Z-axis speed at time t+1 in combination with the speed controller, obtain the q-axis ideal current and d-axis ideal current of the Z-axis drive motor at time t+1.

[0099] S103, based on the q-axis ideal current and d-axis ideal current of the X-axis drive motor at time t+1, obtain the q-axis ideal voltage and d-axis ideal voltage of the X-axis drive motor at time t+1; based on the q-axis ideal current and d-axis ideal current of the Y-axis drive motor at time t+1, obtain the q-axis ideal voltage and d-axis ideal voltage of the Y-axis drive motor at time t+1; based on the q-axis ideal current and d-axis ideal current of the Z-axis drive motor at time t+1, obtain the q-axis ideal voltage and d-axis ideal voltage of the Z-axis drive motor at time t+1.

[0100] Preferably, the expressions for the q-axis ideal voltage and the d-axis ideal voltage of the X-axis drive motor at time t+1 are obtained based on the q-axis ideal current and the d-axis ideal current of the X-axis drive motor at time t+1:

[0101]

[0102] Where: u d is the ideal voltage of the d-axis of the X-axis drive motor at time t+1, u q is the ideal voltage of the q-axis of the X-axis drive motor at time t+1, R s is the stator resistance of the driving motor, i d is the ideal current of the d-axis driving motor of the X-axis at time t+1, i q is the ideal current of the q-axis driving motor of the X-axis at time t+1, ψ d is the ideal d-axis magnetic flux of the X-axis drive motor at time t+1, ψ q is the ideal magnetic flux of the X-axis drive motor on the q-axis at time t+1, ω e is the rotor angular velocity of the drive motor, ω e =pω m , p is the number of pole pairs of the drive motor, ω mis the ideal speed of the X-axis at time t+1, L d is the d-axis inductance of the X-axis drive motor, L q is the q-axis inductance of the X-axis drive motor, ψ f is the permanent magnet flux of the X-axis drive motor.

[0103] Based on the q-axis ideal current and d-axis ideal current of the Y-axis drive motor at time t+1, the q-axis ideal voltage and d-axis ideal voltage of the Y-axis drive motor at time t+1 are obtained. Based on the q-axis ideal current and d-axis ideal current of the Z-axis drive motor at time t+1, the q-axis ideal voltage and d-axis ideal voltage of the Z-axis drive motor at time t+1 are obtained, and the X-axis can be referred to.

[0104] S104, perform inverse Park transformation on the q-axis ideal voltage and the d-axis ideal voltage of the X-axis drive motor at time t+1 to obtain the α-axis ideal voltage and the β-axis ideal voltage of the X-axis drive motor at time t+1, perform inverse Park transformation on the q-axis ideal voltage and the d-axis ideal voltage of the Y-axis drive motor at time t+1 to obtain the α-axis ideal voltage and the β-axis ideal voltage of the Y-axis drive motor at time t+1, and perform inverse Park transformation on the q-axis ideal voltage and the d-axis ideal voltage of the Z-axis drive motor at time t+1 to obtain the α-axis ideal voltage and the β-axis ideal voltage of the Z-axis drive motor at time t+1.

[0105] Preferably, the q-axis ideal voltage and the d-axis ideal voltage of the X-axis drive motor at time t+1 are subjected to inverse Park transformation to obtain the α-axis ideal voltage and the β-axis ideal voltage of the X-axis drive motor at time t+1, and the expression is:

[0106]

[0107] Where: u α is the ideal voltage of the α-axis of the X-axis drive motor at time t+1, u β is the ideal voltage of the β-axis of the X-axis drive motor at time t+1.

[0108] The method of the present invention is simulated and the required position parameters are: 0s-0.25s; 0.25s-0.65s; 0.65s-0.9s; 0.9s-10s. The combination of ramp signal and step signal is given. The tracking results are as follows: Figure 4 As shown, from Figure 4 It can be seen that the three-axis servo system can quickly and stably follow the required position signal without overshoot.

[0109] The tracking effect of the three-axis servo system is verified by a sinusoidal signal. When the three-axis servo system tracks a dynamic signal (such as a sine wave), a phase lag will occur. Phase lag is a phenomenon in which the system response lags behind the input signal, especially in the high-frequency band, where this lag is more obvious. The bandwidth of the three-axis servo system determines the signal frequency range that it can effectively track. For a sinusoidal signal, if the signal frequency exceeds the bandwidth of the three-axis servo system, the three-axis servo system will find it difficult to track accurately. The narrower the bandwidth, the worse the tracking ability of the three-axis servo system for high-frequency signals. The method of the present invention significantly improves this problem, and the effect is as follows: Figure 5 The spatial circle position signal is decomposed into the xyz three-axis position input signal, and the final synthesized spatial circle trajectory is as follows: Figure 6 shown.

[0110] At 0.5s of simulation, load disturbance is applied to each drive motor. The mechanical torque applied by the X-axis motor is 5N·m, the Y-axis is 2N·m, and the Z-axis is 2N·m. Figure 7 As shown in the figure, the fuzzy P controller can detect the imbalance problem of the three-axis drive motor control caused by the disturbance and compensate it in real time, so that the final trajectory is still highly close to the given trajectory.

[0111] Figure 8 The composite trajectory of the three axes is given when a straight line signal is input. The final tracking trajectory is completely consistent with the expected trajectory. This is because the almost indifferent tracking of the sinusoidal signal enables the three-axis servo system to track simple position signals with almost no error.

[0112] Figure 9 The figure shows the tracking effect of the three-axis servo system when the given signal is a spiral signal. The results show the accuracy of fuzzy adaptive PID feedforward control position tracking.

[0113] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A decoupling control method for a three-axis servo system based on fuzzy adaptation, wherein the three-axis servo system is used to drive a working part so that the working part moves according to a set trajectory, characterized in that: Methods include: The three axes of the three-axis servo system are defined as X-axis, Y-axis and Z-axis respectively; A spatial coordinate system is established with the initial position of the working part as the origin, the driving direction of the X-axis as the x-axis, the driving direction of the Y-axis as the y-axis, and the driving direction of the Z-axis as the z-axis; Obtain the actual X-axis position, the required X-axis position, the actual Y-axis position, the required Y-axis position, the actual Z-axis position, and the required Z-axis position of the working part at time 0-t; The actual motion profile of the working component at time 0-t is obtained according to the actual X-axis position, the actual Y-axis position and the actual Z-axis position of the working component at time 0-t; the required motion profile of the working component at time 0-t is obtained according to the required X-axis position, the required Y-axis position and the required Z-axis position of the working component at time 0-t; According to the actual motion profile and the required motion profile of the working part at time 0-t, the X-axis profile error, the Y-axis profile error and the X-axis profile error at time t are obtained; The ideal X-axis position at time t is obtained based on the X-axis contour error and the required X-axis position at time t, the ideal Y-axis position at time t is obtained based on the Y-axis contour error and the required Y-axis position at time t, and the ideal Z-axis position at time t is obtained based on the Z-axis contour error and the required Z-axis position at time t; The X-axis position error at time t is obtained based on the ideal X-axis position and the actual X-axis position at time t, the Y-axis position error at time t is obtained based on the ideal Y-axis position and the actual Y-axis position at time t, and the Z-axis position error at time t is obtained based on the ideal Z-axis position and the actual Z-axis position at time t; Based on the X-axis position error at time t, the fuzzy P controller is used to obtain the ideal X-axis speed at time t+1. Based on the Y-axis position error at time t, the fuzzy P controller is used to obtain the ideal Y-axis speed at time t+1. Based on the Z-axis position error at time t, the fuzzy P controller is used to obtain the ideal Z-axis speed at time t+1. Based on the ideal X-axis speed at time t+1, the α-axis ideal voltage and β-axis ideal voltage of the X-axis drive motor at time t+1 are obtained; based on the ideal Y-axis speed at time t+1, the α-axis ideal voltage and β-axis ideal voltage of the Y-axis drive motor at time t+1 are obtained; based on the ideal Z-axis speed at time t+1, the α-axis ideal voltage and β-axis ideal voltage of the Z-axis drive motor at time t+1 are obtained; Based on the α-axis ideal voltage and β-axis ideal voltage of the X-axis drive motor at time t+1, an X-axis control signal is obtained to control the X-axis drive motor. Based on the α-axis ideal voltage and β-axis ideal voltage of the Y-axis drive motor at time t+1, a Y-axis control signal is obtained to control the Y-axis drive motor. Based on the α-axis ideal voltage and β-axis ideal voltage of the Z-axis drive motor at time t+1, a Z-axis control signal is obtained to control the Z-axis drive motor.

2. The three-axis servo system decoupling control method based on fuzzy adaptation according to claim 1 is characterized in that: According to the actual motion profile and required motion profile of the working part at time 0-t, the X-axis profile error, Y-axis profile error and X-axis profile error at time t are obtained. The expression is: Where: is the X-axis profile error at time t, is the Y-axis profile error at time t, is the Z-axis profile error at time t, is the X-axis profile error at time t-1, is the Y-axis profile error at time t-1, is the Z-axis profile error at time t-1, χ is the angle between the required motion profile at time t and the y-axis after being projected to the xy quadrant, δ is the angle between the required motion profile at time t and the z-axis after being projected to the xz quadrant, x t is the x-axis coordinate value of the required motion profile at time t, y t is the y-axis coordinate value of the required motion profile at time t, z t is the z-axis coordinate value of the required motion profile at time t, is the x-axis tracking error of the actual motion profile at time t, x t+1+m is the x-axis coordinate value of the actual motion profile at time t, y t+1+m is the y-axis coordinate value of the actual motion profile at time t, z t+1+m is the z-axis coordinate value of the actual motion profile at time t.

3. The decoupling control method of a three-axis servo system based on fuzzy adaptation according to claim 1 is characterized in that: The ideal X-axis position at time t is obtained based on the X-axis contour error and the required X-axis position at time t, the ideal Y-axis position at time t is obtained based on the Y-axis contour error and the required Y-axis position at time t, and the ideal Z-axis position at time t is obtained based on the Z-axis contour error and the required Z-axis position at time t, specifically: The X-axis contour error at time t is compensated to the required X-axis position at time t to obtain the ideal X-axis position at time t, the Y-axis contour error at time t is compensated to the required Y-axis position at time t to obtain the ideal X-axis position at time t, and the Z-axis contour error at time t is compensated to the required Z-axis position at time t to obtain the ideal X-axis position at time t.

4. The three-axis servo system decoupling control method based on fuzzy adaptation according to claim 1 is characterized in that: The fuzzy P controller includes a fuzzy controller and a P controller; The fuzzy controller obtains the X-axis adjustment amount at time t+1 based on the X-axis position error at time t and the X-axis error conversion rate, obtains the Y-axis adjustment amount at time t+1 based on the Y-axis position error at time t and the Y-axis error conversion rate, and obtains the Z-axis adjustment amount at time t+1 based on the Z-axis position error at time t and the Z-axis error conversion rate; The P controller obtains the ideal X-axis speed at time t+1 based on the X-axis adjustment amount at time t+1, obtains the ideal Y-axis speed at time t+1 based on the Y-axis adjustment amount at time t+1, and obtains the ideal Z-axis speed at time t+1 based on the Z-axis adjustment amount at time t+1.

5. The decoupling control method of a three-axis servo system based on fuzzy adaptation according to claim 4 is characterized in that: The details of the fuzzy controller are: The theoretical domain of position error is divided into a positive large domain of position error, a medium domain of position error, a positive small domain of position error, a zero domain of position error, a negative small domain of position error, a negative medium domain of position error and a negative large domain of position error; The theoretical domain of the error transformation rate is divided into a positive large domain of error transformation, a positive middle domain of error transformation, a positive small domain of error transformation, a zero domain of error transformation, a negative small domain of error transformation, a negative middle domain of error transformation and a negative large domain of error transformation; The theoretical domain of the adjustment amount is divided into a large positive domain of the adjustment amount, a middle domain of the adjustment amount, a small positive domain of the adjustment amount, a zero domain of the adjustment amount, a small negative domain of the adjustment amount, a middle negative domain of the adjustment amount and a large negative domain of the adjustment amount; If the position error is within the positive large domain of the position error and the error conversion rate is within the positive large domain of the error conversion, then the adjustment amount is within the positive large domain of the adjustment amount; if the position error is within the positive large domain of the position error and the error conversion rate is within the positive middle domain of the error conversion, then the adjustment amount is within the positive middle domain of the adjustment amount; if the position error is within the positive large domain of the position error and the error conversion rate is within the positive small domain of the error conversion, then the adjustment amount is within the positive middle domain of the adjustment amount; if the position error is within the positive large domain of the position error and the error conversion rate is within the zero domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive large domain of the position error and the error conversion rate is within the negative small domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive large domain of the position error and the error conversion rate is within the negative middle domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive large domain of the position error and the error conversion rate is within the negative large domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; If the position error is within the positive middle domain of the position error and the error conversion rate is within the positive large domain of the error conversion, then the adjustment amount is within the positive middle domain of the adjustment amount; if the position error is within the positive middle domain of the position error and the error conversion rate is within the positive middle domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive middle domain of the position error and the error conversion rate is within the positive small domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive middle domain of the position error and the error conversion rate is within the zero domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the positive middle domain of the position error and the error conversion rate is within the negative small domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the positive middle domain of the position error and the error conversion rate is within the negative middle domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the positive middle domain of the position error and the error conversion rate is within the negative large domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; If the position error is within the positive small domain of the position error and the error conversion rate is within the positive large domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive small domain of the position error and the error conversion rate is within the positive middle domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive small domain of the position error and the error conversion rate is within the positive small domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the positive small domain of the position error and the error conversion rate is within the zero domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the positive small domain of the position error and the error conversion rate is within the negative small domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the positive small domain of the position error and the error conversion rate is within the negative middle domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the positive small domain of the position error and the error conversion rate is within the negative large domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; If the position error is within the zero domain of the position error and the error conversion rate is within the positive large domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the zero domain of the position error and the error conversion rate is within the positive middle domain of the error conversion, then the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the zero domain of the position error and the error conversion rate is within the positive small domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the zero domain of the position error and the error conversion rate is within the zero domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the zero domain of the position error and the error conversion rate is within the negative small domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the zero domain of the position error and the error conversion rate is within the negative middle domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the zero domain of the position error and the error conversion rate is within the negative large domain of the error conversion, then the adjustment amount is within the negative middle domain of the adjustment amount; If the position error is within the negative small domain of the position error and the error conversion rate is within the positive large domain of the error conversion, the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the negative small domain of the position error and the error conversion rate is within the positive medium domain of the error conversion, the adjustment amount is within the positive small domain of the adjustment amount; if the position error is within the negative small domain of the position error and the error conversion rate is within the positive small domain of the error conversion, the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the negative small domain of the position error and the error conversion rate is within the zero domain of the error conversion, the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the negative small domain of the position error and the error conversion rate is within the negative small domain of the error conversion, the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the negative small domain of the position error and the error conversion rate is within the negative medium domain of the error conversion, the adjustment amount is within the negative medium domain of the adjustment amount; if the position error is within the negative small domain of the position error and the error conversion rate is within the negative large domain of the error conversion, the adjustment amount is within the negative medium domain of the adjustment amount; If the position error is within the negative middle domain of the position error and the error conversion rate is within the positive large domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the negative middle domain of the position error and the error conversion rate is within the positive middle domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the negative middle domain of the position error and the error conversion rate is within the positive small domain of the error conversion, then the adjustment amount is within the negative small domain of the adjustment amount; if the position error is within the negative middle domain of the position error and the error conversion rate is within the negative small domain of the error conversion, then the adjustment amount is within the negative middle domain of the adjustment amount; if the position error is within the negative middle domain of the position error and the error conversion rate is within the negative small domain of the error conversion, then the adjustment amount is within the negative middle domain of the adjustment amount; if the position error is within the negative middle domain of the position error and the error conversion rate is within the negative middle domain of the error conversion, then the adjustment amount is within the negative middle domain of the adjustment amount; if the position error is within the negative middle domain of the position error and the error conversion rate is within the negative large domain of the error conversion, then the adjustment amount is within the negative middle domain of the adjustment amount; If the position error is within the large negative domain of the position error and the error conversion rate is within the large positive domain of the error conversion, then the adjustment amount is within the small negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the medium positive domain of the error conversion, then the adjustment amount is within the zero domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the small positive domain of the error conversion, then the adjustment amount is within the small negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the zero domain of the error conversion, then the adjustment amount is within the medium negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the small negative domain of the error conversion, then the adjustment amount is within the medium negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the medium negative domain of the error conversion, then the adjustment amount is within the medium negative domain of the adjustment amount; if the position error is within the large negative domain of the position error and the error conversion rate is within the large negative domain of the error conversion, then the adjustment amount is within the large negative domain of the adjustment amount.

6. The three-axis servo system decoupling control method based on fuzzy adaptation according to claim 1 is characterized in that: Based on the ideal X-axis speed at time t+1, the α-axis ideal voltage and β-axis ideal voltage of the X-axis drive motor at time t+1 are obtained. Based on the ideal Y-axis speed at time t+1, the α-axis ideal voltage and β-axis ideal voltage of the Y-axis drive motor at time t+1 are obtained. Based on the ideal Z-axis speed at time t+1, the α-axis ideal voltage and β-axis ideal voltage of the Z-axis drive motor at time t+1 are obtained. Specifically, Construct a geometric coordinate model of the drive motor; the geometric coordinate model includes a d-axis, a q-axis, an α-axis and a β-axis; the d-axis is the direction of the magnetic flux of the drive motor rotor, the q-axis leads the d-axis by 90°, and the angle between the d-axis and the α-axis is the electrical angle θ of the drive motor rotor e , the β axis leads the α axis by 90; Based on the ideal speed of the X-axis at time t+1 combined with the speed controller, the q-axis ideal current and the d-axis ideal current of the X-axis drive motor at time t+1 are obtained; based on the ideal speed of the Y-axis at time t+1 combined with the speed controller, the q-axis ideal current and the d-axis ideal current of the Y-axis drive motor at time t+1 are obtained; based on the ideal speed of the Z-axis at time t+1 combined with the speed controller, the q-axis ideal current and the d-axis ideal current of the Z-axis drive motor at time t+1 are obtained; Based on the q-axis ideal current and d-axis ideal current of the X-axis drive motor at time t+1, the q-axis ideal voltage and d-axis ideal voltage of the X-axis drive motor at time t+1 are obtained; based on the q-axis ideal current and d-axis ideal current of the Y-axis drive motor at time t+1, the q-axis ideal voltage and d-axis ideal voltage of the Y-axis drive motor at time t+1 are obtained; based on the q-axis ideal current and d-axis ideal current of the Z-axis drive motor at time t+1, the q-axis ideal voltage and d-axis ideal voltage of the Z-axis drive motor at time t+1 are obtained; Performing inverse Park transformation on the q-axis ideal voltage and d-axis ideal voltage of the X-axis drive motor at time t+1 obtains the α-axis ideal voltage and β-axis ideal voltage of the X-axis drive motor at time t+1, performing inverse Park transformation on the q-axis ideal voltage and d-axis ideal voltage of the Y-axis drive motor at time t+1 obtains the α-axis ideal voltage and β-axis ideal voltage of the Y-axis drive motor at time t+1, performing inverse Park transformation on the q-axis ideal voltage and d-axis ideal voltage of the Z-axis drive motor at time t+1 obtains the α-axis ideal voltage and β-axis ideal voltage of the Z-axis drive motor at time t+1.

7. The fuzzy adaptive three-axis servo system decoupling control method according to claim 6 is characterized in that: Based on the q-axis ideal current and d-axis ideal current of the X-axis drive motor at time t+1, the expressions of the q-axis ideal voltage and d-axis ideal voltage of the X-axis drive motor at time t+1 are obtained as follows: Where: u d is the ideal voltage of the d-axis of the X-axis drive motor at time t+1, u q is the ideal voltage of the q-axis of the X-axis drive motor at time t+1, R s is the stator resistance of the drive motor, i d is the ideal current of the d-axis of the X-axis drive motor at time t+1, i q is the q-axis ideal current of the X-axis drive motor at time t+1, ψ d is the ideal flux of the X-axis drive motor on the d-axis at time t+1, ψ q is the q-axis ideal magnetic flux of the X-axis drive motor at time t+1, ω e is the rotor angular velocity of the drive motor, ω e =pω m , p is the number of pole pairs of the drive motor, ω m is the ideal speed of the X-axis at time t+1, L d is the d-axis inductance of the X-axis drive motor, L q is the q-axis inductance of the X-axis drive motor, ψ f is the permanent magnet flux of the X-axis drive motor.

8. The fuzzy adaptive three-axis servo system decoupling control method according to claim 7 is characterized in that: The ideal q-axis voltage and the ideal d-axis voltage of the X-axis drive motor at time t+1 are subjected to inverse Park transformation to obtain the ideal α-axis voltage and the ideal β-axis voltage of the X-axis drive motor at time t+1, and the expression is: Where: u α is the ideal voltage of the α-axis of the X-axis drive motor at time t+1, u β is the ideal voltage of the β-axis of the X-axis drive motor at time t+1.

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