基于虚拟质心的GSLQR最优控制和力前馈解耦控制算法  

GSLQR Optimal Control and Force Feedforward Decoupling Control Algorithm Based on Virtual Centroid

作　　者：谢翰君 王钦若[1] XIE Hanjun;WANG Qinruo(School of Automation,Guangdong University of Technology,Guangzhou 510000,China)

机构地区：[1]广东工业大学自动化学院,广东广州510000

出　　处：《自动化与信息工程》2024年第3期16-21,44,共7页Automation & Information Engineering

基　　金：沧州市重大科技成果转化专项项目(161001002D)。

摘　　要：针对龙门同步双驱(GSD)平台因负载不均导致的同步误差影响加工精度的问题,目前的研究大多忽略了双驱轴之间的交叉耦合效应,或者重负载在龙门架横梁上的位置变化对同步误差的影响。为解决这一问题,首先,通过定义龙门架横梁的虚拟质心,量化双驱电机之间的交叉耦合力;然后,设计一种基于虚拟质心的GSLQR最优控制和力前馈解耦控制算法;最后,进行仿真实验。仿真实验结果表明,该算法的同步误差最大值比GSLQR最优控制算法和推力分配算法分别降低了约70%和60%,提高了GSD平台的同步性能和运动性能。In response to the problem of synchronization errors affecting machining accuracy caused by uneven load on the gantry synchronous dual drive(GSD)platform,current research has mostly ignored the cross-coupling effect between the dual drive shafts,or the impact of changes in the position of heavy loads on the gantry crossbeam on synchronization errors.To solve this problem,first,quantify the cross-coupling force between the dual drive motors by defining the virtual center of mass of the gantry crossbeam;Then,design a GSLQR optimal control and force feedforward decoupling control algorithm based on virtual centroid;Finally,conduct simulation experiments.The simulation experiment results show that the maximum synchronization error of the algorithm is reduced by about 70%and 60%compared to the GSLQR optimal control algorithm and thrust allocation algorithm,respectively,improving the synchronization and motion performance of the GSD platform.

关 键 词：龙门同步双驱平台 龙门同步线性二次调节器 最优控制 力前馈解耦控制 虚拟质心 重负载 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]