基于全局任务坐标系的直驱XY平台学习互补滑模轮廓控制  

Learning Complementary Sliding Mode Contouring Control Based on Global Task Coordinate Frame for Direct Drive XY Table

作　　者：原浩 赵希梅[1] Yuan Hao;Zhao Ximei(School of Electrical Engineering Shenyang University of Technology,Shenyang 110870,China)

机构地区：[1]沈阳工业大学电气工程学院,沈阳110870

出　　处：《电工技术学报》2020年第10期2141-2148,共8页Transactions of China Electrotechnical Society

基　　金：辽宁省自然科学基金计划重点项目(20170540677);辽宁省教育厅科学技术研究项目(LQGD2017025)资助。

摘　　要：针对直驱XY平台在加工高速度和尖角轮廓时精度较差的问题,提出一种在全局任务坐标系(GTCF)中采用迭代学习控制(ILC)和互补滑模控制(CSMC)相结合的轮廓控制方法。首先,利用实际轮廓误差的一阶导数构建轮廓误差模型,并将轮廓误差和轮廓运动轨迹作为控制变量建立GTCF,使系统能够协调运行。然后,采用ILC对轮廓跟踪过程中的未建模动态进行补偿,并利用CSMC抑制直驱XY平台伺服系统中参数变化、外部扰动等不确定性因素的影响。最后,系统实验结果表明,该控制方法具有较强的鲁棒性和快速的轮廓跟踪性,能够实现更精确的控制性能,减小系统的轮廓误差,进而改进直驱XY平台伺服系统的高精度轮廓加工性能。A contouring control scheme was proposed for direct drive XY table combining iterative learning control(ILC) and complementary sliding mode control(CSMC) in the global task coordinate frame(GTCF), in order to solve the problem of poor precision when processing high speed or sharp corner contours. Firstly, the error model was constructed by the derivative of actual contouring error. The contouring error and trajectory are used as control variables to establish the GTCF, which enables the system to operate in coordination. Then, the unmodelled dynamics in the contouring tracking process were compensated by ILC, and CSMC was used to suppress the influence of uncertainties such as parameters changing, external disturbances and so on in the direct drive XY table servo system. Finally, the system experimental results show that the proposed method has strong robustness and fast contouring tracking performance. It can achieve more accurate control performance, reduce the contouring error, and improve the high precision contouring machining performance of the direct drive XY table servo system.

关 键 词：直驱XY平台 全局任务坐标系 迭代学习控制 互补滑模控制 轮廓控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TM351[自动化与计算机技术—控制科学与工程]