XY平台伺服系统交叉耦合自适应控制  

Cross-Coupling Adaptive Control for the System of DC Servo XY Table

作　　者：孙军[1] 田龙[1] 刘伟[1] 汤海伦[1] 朱伟[1] 

机构地区：[1]沈阳建筑大学交通与机械工程学院,辽宁沈阳110168

出　　处：《沈阳建筑大学学报（自然科学版）》2013年第4期733-738,共6页Journal of Shenyang Jianzhu University：Natural Science

基　　金：国家863计划重大项目(2012AA041303)

摘　　要：目的研究设计XY双轴伺服进给系统交叉耦合自适应控制器,探讨在改善位置误差和轮廓误差的同时,具有良好的鲁棒性.方法先对直流伺服进给系统进行建模,再设计一种简而有效的轮廓误差算法并以此为基础设计交叉耦合自适应控制器,利用LabVIEW软件中的运动控制与仿真模块对其进行模拟仿真.结果在外力干扰的条件下,CCAC在直线路径下对位置和轮廓误差的改善效果均优于PI控制器和CCC,为PI的31.49%～53.31%,为CCC的32.81%～56.07%;在圆形路径下,CCAC对位置和轮廓误差的改善效果同样优于PI控制器和CCC,为PI的31.48%～53.34%,为CCC的31.34%～55.58%.结论交叉耦合自适应控制器对位置误差与轮廓误差具有明显的改善效果,并且可增强系统的鲁棒性,提高系统的快速性.The paper aims to design a cross-coupling adaptive controller（CCAC）which can bring a significant improvement of tracking and contour errors for a control system of XY table.First,modeling the DC servo feed system and design a control system based on a simple and effective contour error algorithm.And then,simulate the system by LabVIEW Control Design and perform simulation.Compared with the PI controller and cross-coupling controller（CCC）under disturbance,the experimental results show that CCAC has a better improvement of tracking errors and contour errors in linear contouring and the value is 31.49%-53.31% of PI and 32.81%-56.07% of the CCC.In circle tracking,CCAC also has a better improvement of tracking errors and contour errors with the proportions are 31.48%-53.34% of PI and 31.34%-55.58% of CCC.The simulation results show that the control scheme not only has a strong robustness to load disturbances,but it can also enhance the rapidity and contour precision.

关 键 词：伺服进给系统 位置误差 轮廓误差 交叉耦合自适应控制器 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]