基于参考调整轮廓误差的直驱XY运动平台自适应非线性滑模轮廓控制  

Adaptive Nonlinear Sliding Mode Contour Control for Direct Drive XY Motion Platform Based on Reference Adjustment Contour Error

作　　者：金鸿雁 宫艳书 赵希梅[1] Jin Hongyan;Gong Yanshu;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》2023年第18期4900-4909,共10页Transactions of China Electrotechnical Society

基　　金：辽宁省博士科研启动基金计划资助项目(2022-BS-177)。

摘　　要：针对精密直驱XY运动平台在执行加工任务时,易受到系统不确定性动力学及双轴协调匹配性的影响而产生轮廓误差的问题,提出一种基于参考调整轮廓误差(RACE)模型和不确定性补偿器(UC)的自适应非线性滑模轮廓控制(ANSMCC)方法。由于传统的将跟踪误差法向分量视作近似轮廓误差的方法并不适用于大曲率轮廓加工轨迹,因此,建立参考调整坐标系,通过坐标变换的方式计算得出更为精准的RACE模型。采用ANSMCC方法对轮廓误差进行控制,通过设计非线性滑模面可以有效提高系统的动态响应速度和轮廓跟踪精度。为进一步减小参考模型与实际对象之间的误差,设计UC对不确定性动力学进行补偿,从而提高系统的鲁棒性。实验结果表明,该方法能够有效克服直驱XY平台系统中不确定性动力学的影响,提高轮廓加工精度。The direct drive XY motion platform can realize the movement of multi-axis high-end CNC machine tools in the XY coordinate system.It has the advantages of fast response speed and high machining accuracy,which is the key to achieving precise contour control.However,the direct drive XY motion platform uses two permanent magnet linear synchronous motors as the power source.The nonlinear dynamics in the system will directly affect the motion of the platform without attenuating the transmission links.In addition,the matching and coordination of the two feed drive axes in the motion process will also reduce the contour machining accuracy of the system.The precision direct drive XY motion platform is vulnerable to the influence of the system uncertainty dynamics and the dual axis coordination matching when performing the machining tasks.Therefore,an adaptive nonlinear sliding mode contour control(ANSMCC)method is proposed based on the reference adjusted contour error(RACE)model and uncertainty compensator(UC).Firstly,the dynamic model of the direct drive XY motion platform is established,including uncertainty factors such as parameter variations,external disturbances,and nonlinear friction forces.Next,the traditional method of regarding the normal component of the tracking error as an approximate contour error is not applicable to the large curvature contour machining path.A RACE model is established to calculate a more accurate contour error using coordinate transformation and equivalent contour error theory.Since the direct drive XY platform servo system will be affected by the nonlinear dynamics in the operation process,the ANSMCC method and UC method are designed to control the linear reference model and the nonlinear dynamics.Based on the designed RACE model,an ANSMCC is designed.The nonlinear sliding mode surface is introduced in ANSMCC to replace the traditional linear sliding mode surface,guaranteeing the system has a fast dynamic response speed while enhancing the contour tracking accuracy.Meanwhile,regarding t

关 键 词：直驱XY运动平台 参考调整轮廓误差 不确定性补偿器 自适应非线性滑模轮廓控制 轮廓加工精度 

分 类 号：TM351[电气工程—电机]