多轴运动控制系统的非线性PID交叉耦合控制  

NLPID Based Cross-Coupled Control for Multi-axis Motion Control Systems

作　　者：吴言穗 王瑶为 俞立[1] 王军晓 WU Yan-sui;WANG Yao-wei;YU Li;Wang Jun-xiao(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《控制工程》2020年第5期830-834,共5页Control Engineering of China

基　　金：浙江省自然科学基金重点项目(LZ15F030003);国家自然科学基金重点联合项目(U1709213)。

摘　　要：为了提高多轴运动控制系统的轮廓跟踪精度,首先针对多轴运动控制系统的交叉耦合控制(CCC),比较了两种CCC结构的优缺点;进而在分析并建立典型曲线轨迹轮廓误差模型的基础上,设计了一种适用于位置闭环反馈控制和轮廓误差补偿控制器的新型非线性PID控制器(NLPID);最后在双轴雕刻机实验平台进行该方法的有效性验证,实验结果表明,与传统PID交叉耦合控制相比,该方法不仅能够明显减少多轴运动控制系统的轮廓误差,而且能有效提高系统的抗干扰能力以及鲁棒性。In order to improve the contour tracking accuracy of the multi-axis motion control systems,comparing the characteristics of the two cross-coupled control(CCC)structures firstly.On the basis of the analysis and establishment of the typical curve contour error model for the CNC multi-axis motion control systems,a novel non-linear PID controller(NLPID)is designed for the position closed-loop feedback control and the contour error compensation control.The proposed controller is evaluated and compared experimentally with a traditional PID cross-coupled controller on a dual-axis engraving machine experiment platform.The experimental results show that the proposed NLPID can not only significantly reduce the system contour error,but also effectively improve anti-interference ability and robustness of the system.

关 键 词：多轴运动控制系统 轮廓误差 交叉耦合控制 非线性PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]