双x轴XY平台驱动控制策略研究  

Research on Driving Control Strategy of Dual x-axis XY Platform

作　　者：杜明 宋佳丽[1] 陈广大[2] DU Ming;SONG Jiali;CHEN Guangda(Jilin Electronic Information Vocational and Technical College,Jilin City 132021,China;School of Electrical and Information Engineering,Beihua University,Jilin City 132021,China)

机构地区：[1]吉林电子信息职业技术学院,吉林吉林132021 [2]北华大学电气与信息工程学院,吉林吉林132021

出　　处：《吉林化工学院学报》2024年第9期27-32,共6页Journal of Jilin Institute of Chemical Technology

摘　　要：针对步进电机驱动XY平台存在的系统不确定性因素及双边驱动同步问题,提出基于偏差自耦补偿的自抗扰控制策略,解决快速性和超调的矛盾。在建立了单轴驱动数学模型基础上,采用自抗扰+PD双闭环控制结构;随后针对x方向双边驱动同步问题,提出偏差自耦PID补偿策略。实验结果表明,提出的控制策略响应时间短、抗扰性好、跟踪精度高。To address the system uncertainties and bilateral drive synchronization issues of a stepper motor-driven XY platform,a self-disturbance rejection control strategy based on deviation self-coupling compensation was proposed to resolve the contradiction between rapidity and overshoot.Based on the established mathematical model of single-axis drive,a self-disturbance rejection+PD dual closed-loop control structure was adopted;subsequently,a deviation self-coupling PID compensation strategy was proposed for the synchronization issue of bilateral drive in one direction.Experimental results demonstrate that the control strategy proposed in this paper has short response time,good disturbance rejection,and high tracking accuracy.

关 键 词：XY平台 自抗扰 双边驱动 自耦PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]