一种直驱XY平台精密轮廓跟踪控制方法  

A Precision Contouring Tracking Control Method 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14期2979-2986,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平台在加工高进给率或存在尖角的轮廓时精度较差这一问题,该文提出一种精密轮廓跟踪控制方法。首先,利用参考轮廓和当前位置信息构造关于轮廓误差的代价函数,采用牛顿极值搜索算法进行动态轮廓误差估计(CEE)。然后,对轮廓误差进行迭代学习控制(ILC),并将ILC的结果用于调整参考轮廓,形成修正参考轮廓,以获得更好的跟踪性能,从而改善轮廓精度。接着,利用互补滑模控制器(CSMC)抑制系统中参数变化、外部扰动、非线性摩擦等不确定性因素的影响,提高单轴的鲁棒性能和跟踪性能。最后,系统实验结果表明,该控制方法能够明显地提高系统的控制性能,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 precision contouring tracking control method was proposed to solve the problem that direct drive XY table has poor accuracy when machining high feed rates and sharp corner contours.Firstly,a cost function for the contouring error was established using the reference contour and current position information.Newton extremum seeking algorithm was used to establish dynamic CEE.Then,the contouring error was reduced by iterative learning control(ILC),and the ILC results were used to adjust the reference contour to form a modified reference contour for better tracking performance.Therefore,the profile accuracy was developed.The complementary sliding mode controller(CSMC)was used to suppress the influence of uncertainties in the system such as parameter changing,external disturbances,nonlinear friction and so on.The robust performance and tracking performance of single axis were enhanced.Finally,the system experimental results show that the proposed method can improve the control performance significantly and reduce the contouring error.The high precision contouring machining performance of the direct drive XY table servo system is also improved.

关 键 词：直驱XY平台 轮廓误差估计 迭代学习控制 轮廓跟踪控制 

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]