基于解耦控制算法的XYθ定位平台系统研究  

Research on XYθPositioning Platform Based on Decoupling Control Algorithms

作　　者：余希达 高健[1] YU Xi-da;GAO Jian(Key Laboratory of Precision Electronic Manufacturing Technology and Equipment,School of Electro-mechanical Engineering,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]广东工业大学机电工程学院精密电子制造技术与装备国家重点实验室,广州510006

出　　处：《组合机床与自动化加工技术》2020年第10期110-116,共7页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金-联合基金(U1601202);广东高校科研项目建设项目(17ZK0091)。

摘　　要：为减小运动定位平台XYθ方向的振动误差及耦合,提高平台定位精度,提出了一种基于神经网络前馈PID解耦控制算法的定位平台系统设计。搭建了由高性能X、Y方向直线电机、θ方向力矩电机驱动组成的大行程微米级定位平台与上位机系统,采用改进的神经网络前馈PID解耦控制算法对运动定位平台进行定位补偿,通过传感器实时反馈定位系统终端位置,实现定位平台闭环反馈控制。MATLAB仿真及实验结果表明,改进的控制算法实现了平台的解耦控制,可较好地完成多轴同步控制,提高系统的动态与稳态性能。In order to improve the positioning accuracy of the platform and reduce the multi-axis vibration error and coupling phenomenon of the motion control platform,a PID decoupling control algorithm based on neural feedforward network was proposed to design the XYθmotion control platform system.A large-stroke micron positioning platform composed of high-performance XY-direction linear motor,θ-direction torque motor and computer software were built.The improved neural feedforward network PID decoupling control algorithm was used to compensate the positioning of the motion control platform.At the same time,the closed-loop feedback control of the positioning platform was realized by real-time feedback of the sensor to locate the terminal position of the system.Experimental results showed that the improved decoupling control of the platform was realized by using the control algorithm,and the multi-axis synchronization control can be well accomplished.Steady-state and dynamic performance of the system can be improved.

关 键 词：解耦控制算法 神经网络PID XYθ定位平台 MATLAB仿真 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]