基于指数增益迭代学习三轴运动平台轮廓控制  

Iterative Learning of Three-Axis Motion Platform Contour Control Based on Exponential Gain

作　　者：徐漪 王丽梅[1] XU Yi;WANG Limei(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：《组合机床与自动化加工技术》2024年第5期108-110,115,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(51875366)。

摘　　要：为了得到三轴运动平台精确的轮廓误差估计值,提出了一种基于指数增益型迭代学习的轮廓控制方法。以永磁直线同步电机驱动的三轴运动平台为研究对象,建立三轴运动平台的数学模型,采用泰勒扩展轮廓误差估计法对轮廓误差进行估计,并设计了基于指数增益的PD型迭代学习控制器。采用交叉耦合控制策略,选取按比例的分配方式将轮廓误差补偿到原始参考轮廓上。仿真结果表明,针对给定马鞍形和心形曲线采用指数增益迭代学习比传统迭代学习控制的轮廓误差最大值以及均方差值均有所减小,可证明该方法能够有效减小系统轮廓误差,提升轮廓控制精度。In order to get the accurate estimation of the contour error of the three-axis moving platform,an exponential gain iterative learning contour control method for three-axis moving platform is proposed in this paper.In this paper,the mathematical model of the three-axis motion platform driven by permanent magnet synchronous linear motor is established,and the contour error is estimated by using Taylor extended contour error estimation method.In order to obtain accurate estimation of contour error,a PD iterative learning controller based on exponential gain is designed.Finally,the cross-coupling control strategy is adopted to select a proportional distribution method to compensate the contour error to the original reference contour.The simulation results show that the maximum profile error and mean square error of the exponential gain iterative learning for a given saddle-shaped and heart-shaped curve are smaller than those of the traditional iterative learning control,which proves that the proposed method can effectively reduce the system profile error and improve the profile control accuracy.

关 键 词：三轴运动平台 迭代学习 轮廓误差估计 交叉耦合控制 

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]