一种永磁直线电机驱动X-Y平台精密轮廓跟踪控制策略  

A Precise Contour Tracking Control Method for X-Y Table Driven by Permanent Magnet Linear Motors

作　　者：武志涛[1] 杨永辉[1] Wu Zhitao;Yang Yonghui(School of Electrics and Information Engineering University of Science and Technology Liaoning Anshan 114051,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,鞍山114051

出　　处：《电工技术学报》2018年第17期4037-4043,共7页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金项目资助(51175349)

摘　　要：为了解决轮廓误差模型的不准确对循迹系统的影响,提出一种新的轮廓误差模型,该模型利用跟踪误差与进给率等信息定义轮廓误差,是一种改进式的等效切线轮廓误差模型。同时,为了减少直驱式X-Y平台在循迹跟踪过程中产生的轮廓误差,采用了位置PDF控制与轮廓TCC补偿控制相结合的整合式控制策略。PDF控制使位置伺服系统具有较好的鲁棒性,TCC轮廓补偿控制可以对轮廓误差进行实时的补偿。实验结果表明,该文所提出的改进式轮廓误差模型无论是在低进给率或高进给率条件下,都可以实时且有效地计算出循圆跟踪系统的轮廓误差,并使X-Y平台满足高精度轮廓跟踪的要求。In order to solve the effect of inaccurate contour error model on the tracking control system,a new contour error model is proposed.The contour error model integrates the tracking error and feed rate information,which is an improved equivalent tangent contour error.At the same time,in order to reduce the contour error generated in the process of tracking the direct drive of the X-Y table,an integrated design method combining pseudo-derivative feedback(PDF)position control and Tangential contour compensation(TCC)control is adopted.The PDF control makes the position servo system better robust,and the TCC contours compensator can make real time compensation for the contour error.The experimental results show that the improved contour error model proposed can calculate the contour error effectively in real time under the condition of low feed rate and high feed rate,and make the X-Y servo table meet the requirements of high contour tracking accuracy.

关 键 词：永磁直线电机 直驱X-Y 平台 轮廓误差模型 伺服控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]