端框移动平台双驱同步控制系统设计  

Synchronous control system design of dual-drive end-frame executed platform

作　　者：费少华[1] 刘丹[1] 乔明杰[2] 章明[1] 方强[1] 

机构地区：[1]浙江大学浙江省先进制造技术重点研究实验室,浙江杭州310027 [2]西安飞机工业(集团)有限责任公司,陕西西安710089

出　　处：《浙江大学学报（工学版）》2016年第1期85-92,共8页Journal of Zhejiang University：Engineering Science

基　　金：中央高校基本科研业务费专项资金资助项目(2015FZA4005)

摘　　要：在某型飞机数字化装配系统中,为了解决大尺寸、大负载端框移动平台两轴驱动位置不同步问题,将交叉耦合技术引入自适应控制,提出自适应耦合同步控制策略.建立端框移动平台双驱机构的非线性数学模型;设计端框移动平台的自适应耦合同步控制算法以及自适应律,根据李雅普诺夫稳定性定理、Barbalat引理及LaSalle引理证明系统的稳定性和收敛性;完成基于自适应耦合同步控制的双轴闭环控制系统设计,在保证单轴跟踪精度的同时实现双轴同步控制.实验结果表明,基于自适应耦合同步控制的端框移动平台位置跟踪误差小于0.040mm,位置同步误差最大值为0.011mm.The synchronization control strategy of adaptive coupling was presented by incorporating crosscoupling technology into adaptive control architecture in order to solve the problem that the end-frame＇s two axes with high precision and large load can＇t synchronously move in the aircraft digital assembly system.The nonlinear model of dual-drive mechanism of the end-frame executed platform was conducted.The adaptive coupling control algorithm and adaptive law for end-frame executed platform were designed.Then the stability and convergence of the control system were analyzed by Lyapunov,Barbalat and LaSalle theory.A biaxial closed loop servo system was finished based on adaptive coupling synchronous control.Then the biaxial synchronous control was achieved under the high tracking accuracy of each axis.Experiments on end-frame executed platform indicate that the tracking error of two axes is below 0.040 mm,and the maximum synchronization error is 0.011 mm.

关 键 词：端框 端框移动平台 自适应耦合控制 同步控制 位置同步误差 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]