用于二维运动平台控制的变同步比圆弧插补方法  

Variable synchronization ratio circular interpolation method for two-dimensional motion platform control

作　　者：魏青轩 李雪婷 王世民 潘立强 江慧娜[1] Wei Qingxuan;Li Xueting;Wang Shimin;Pan Liqiang;Jiang Huina(College of Information Engineering,Beijing Institute of Petrochemical Technology,Beijing 102617,China)

机构地区：[1]北京石油化工学院信息工程学院,北京102617

出　　处：《仪器仪表学报》2024年第11期89-100,共12页Chinese Journal of Scientific Instrument

基　　金：北京石油化工学院重要科研成果培育项目(BIPTACF-013)资助。

摘　　要：针对二维运动平台控制过程中,未考虑两个物理轴运动过程不同步导致圆弧插补误差较大的问题,提出了一种用于二维运动平台控制的变同步比圆弧插补方法,利用插补点坐标随圆心角的变化关系,构建以插补点对应圆心角为输出的虚拟轴,并将其作为同步运动引导轴,物理轴作为同步运动跟随轴,建立虚拟轴与物理轴的同步运动关系;依据引导轴与跟随轴的位置关系,获得以圆心角为中间参量的同步比,将圆弧插补过程转化为每个插补周期同步比的计算;通过在每个插补周期调整同步比,改变物理轴合成运动方向,实现了圆弧插补。实验结果表明,所提出的方法能够控制二维运动平台以较为平滑的速度实现圆弧插补,提高了二维运动平台圆弧插补效率的同时,具有较高的圆弧插补精度。Aiming at the two-dimensional motion platform control process,without considering the problem of large circular interpolation error caused by the non-synchronous motion process of the two physical axes,a variable synchronization ratio circular interpolation method for two-dimensional motion platform control is proposed.The proposed method uses the relationship between the change of interpolation point coordinates and the angle of the center of the circle,a virtual axis is constructed with the corresponding angle of the center of the circle of the interpolation point as the output,which is used as the guide axis of synchronous motion,and the physical axes are used as the follower axes of synchronous motion,so as to establish the synchronous motion relationship between the virtual axis and the physical axes;Based on the positional relationship between the guide axis and the follower axes,the synchronization ratio is obtained with the angle of the center of the circle as the intermediate parameter,and the circular interpolation process is transformed into the calculation of the synchronization ratio for each interpolation cycle;By adjusting the synchronization ratio for each interpolation cycle,the synthetic direction of the physical axes is changed,and the circular interpolation is realized.The experimental results show that the proposed method can control the two-dimensional motion platform to achieve circular interpolation at a relatively smooth speed,which improves the efficiency of the circular interpolation of the two-dimensional motion platform and has a high accuracy of circular interpolation at the same time.Aiming at the control process of two-dimensional motion platform,this paper proposes a variable synchronization ratio circular interpolation method,specifically targeting the issue of large circular interpolation errors caused by the asynchronous motion of two physical axes.The proposed method uses the relationship between the change of interpolation point coordinates and the angle of the center of the

关 键 词：二维运动平台 圆弧插补 同步运动 同步比 

分 类 号：TH39[机械工程—机械制造及自动化] TP301.6[自动化与计算机技术—计算机系统结构]