“井”字形双驱龙门模型参考自适应控制  

Model-Based Adaptive Control for a Dual-drive “Checkerboard” Gantry

作　　者：万云飞 陈思鲁 张勇 张驰 杨桂林 WAN Yun-fei;CHEN Si-lu;ZHANG Yong;ZHANG Chi;YANG Gui-lin(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China;Key Laboratory of Maglev Train and Maglev Technology of Ministry of Education,Superconductivity and New Energy R&D Center,Southwest Jiaotong University,Chengdu 610031,China;Zhejiang Key Lab of Robotics and Intelligent Manufacturing Equipment Technology,Ningbo Institute of Materials Technology and Engineering,Chinese Academy of Science,Ningbo 315201,China)

机构地区：[1]西南交通大学机械工程学院,成都610031 [2]西南交通大学超导与新能源研究开发中心磁浮技术与磁浮列车教育部重点实验室,成都610031 [3]中国科学院宁波材料技术与工程研究所浙江省机器人与智能制造装备技术重点实验室,宁波315201

出　　处：《组合机床与自动化加工技术》2022年第10期109-114,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(51875554);国家自然科学基金(U1609206);中国科学院“全球共性挑战”专项(174433KYSB20210060);中国科学院机器人与智能制造创新研究院自主项目(C2021001)。

摘　　要：为了在大行程范围内实现快速精确定位,研究了一种X-Y双边冗余驱动的“井”字形双驱龙门。分析了同步误差对末端工作头实际精确位置的影响,利用拉格朗日方法推导了其动力学模型。针对两平行轴同步性能易受到由末端工作头运动引起的非对称负载影响的问题,设计了一种模型参考自适应控制方法以用于实时补偿该非对称负载,并利用李亚普诺夫理论证明了该方法的稳定性。在实际龙门平台上的实验表明,相较于传统的主从PID控制,所提控制方法在不增加电机推力负担的情况下,明显减小了轨迹跟踪误差和同步误差,有效提高了龙门平台的精确定位性能。For fast and precise positioning over large workspace,a dual-drive“checkerboard”gantry system,where both X and Y motion are redundantly driven,is introduced.The effect of synchronization error on the actual position of the end working head is analyzed,and the dynamical model is derived using Lagrangian equation.To address the problem that the synchronization performance of the two parallel axes is easily affected by the asymmetric load caused by the motion of the end working head,a model-based adaptive control strategy is designed for real-time compensation.Then the stability of the proposed method is proved using Lyapunov's theory.Experiments on the actual gantry stage show that,compared with the traditional master-slave PID control,the proposed control method significantly reduces the trajectory tracking error and synchronization error without increasing the motor thrust burden,and effectively improves the precise positioning performance of the gantry stage.

关 键 词：双驱龙门 动力学建模 轨迹跟踪 自适应控制 

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]