基于迭代学习交叉耦合的轮廓误差控制方法研究  

Research on Contour Error Control Method Based on Iterative Learning Cross-Coupling

作　　者：王春阳 张来 王大森[3] 白祎凡 张旭 肖博 WANG Chunyang;ZHANG Lai;WANG Dasen;BAI Yifan;ZHANG Xu;XIAO Bo(Xi an Key Laboratory of Active Photoelectric Imaging Detection Technology,Xi an Technological University,Xi an Shaanxi 710021,China;School of Electronic Information Engineering,Changchun University of Science and Technology,Changchun Jilin 130022,China;Ningbo Branch of Chinese Academy of Ordnance Science,Ningbo Zhejiang 315103,China;School of Opto-electronic Engineering,Xi an Technological University,Xi an Shaanxi 710021,China)

机构地区：[1]西安工业大学,西安市主动光电成像探测技术重点实验室,陕西西安710021 [2]长春理工大学电子信息工程学院,吉林长春130022 [3]中国兵器科学研究院宁波分院,浙江宁波315103 [4]西安工业大学光电工程学院,陕西西安710021

出　　处：《机床与液压》2023年第8期48-55,共8页Machine Tool & Hydraulics

基　　金：装备预先研究领域基金项目(80923010202)。

摘　　要：针对进给伺服系统传统控制方法产生的各轴特性不匹配、控制精度不佳、抗扰动能力不足等问题,提出一种基于自抗扰控制(ADRC)和迭代学习交叉耦合控制(ILCCC)的轮廓跟踪控制算法。对于空间任意轮廓曲线,所提算法在三轴联动条件下,通过不断的迭代学习过程,优化分配给各轴的轮廓误差补偿量,加快伺服轴动态响应的同时,有效抑制伺服系统的轮廓误差。在仿真平台下建立控制器数学模型,对空间直线和空间螺旋线轨迹进行了三维跟踪验证。研究结果表明:与ADRC控制算法和ADRC+PIDCCC控制算法相比,ADRC+ILCCC控制算法在轮廓误差的最大绝对值、累计值以及平均值等指标上均有很大改善,证明了所提算法的优越性。In order to solve the problems caused by the traditional control methods of feed servo system,such as the characteristic mismatch of each axis,poor control accuracy and insufficient anti-disturbance ability,a contour tracking control algorithm based on active disturbance rejection control(ADRC)and iterative learning cross-coupling control(ILCCC)was proposed.For arbitrary contour curves in space,the compensation amount of contour error allocated to each axis was optimized by the proposed algorithm through continuous iterative learning process under the condition of three-axis linkage,the dynamic response of the servo axis was accelerated,and the contour error of the servo system was inhibited effectively.The mathematical model of the controller was established under the simulation platform,and the trajectory of the space straight line and the space spiral line was verified by three-dimensional tracking.The research results show that:compared with ADRC control algorithm and ADRC+PIDCCC control algorithm,ADRC+ILCCC control algorithm has a great improvement in the maximum absolute value,cumulative value and average value of contour error,which proves the superiority of the proposed algorithm.

关 键 词：三轴联动 轮廓误差 自抗扰控制 迭代学习交叉耦合控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]