Active Multi-axis Synchronization Strategy Based on Virtual Time Delayed Spindle
Virtual spindle method and cross coupling method are currently widely used multi-axis synchro-nous control strategies.The virtual spindle method requires inherent synchronization between each axis to construct a virtual spindle,while the cross coupling method generates a huge computational load as the num-ber of axes increases.This article proposed a multi-axis synchronous control strategy based on virtual time delayed spindles.Researched on the estimation method of single axis error time delay,explored the con-struction method of virtual time delay spindles that reflect the tracking effect of the system's operating curves on each axis,and formed an active multi-axis coordinated control strategy based on virtual time delay spin-dles with simple structure and strong applicability.This scheme overcomed the limitations of traditional virtu-al spindle schemes that rely on inherent synchronization to construct virtual axes.It only required estimation of the delay time and coupling compensation value of this axis,and the complexity of the scheme was inde-pendent of the number of system axes.Finally,a simulation experiment was designed,and the experimental results showed that the strategy can achieve good multi-axis synchronization control effect,with good steady-state and dynamic performance.
multi-axis equipmenttrajectory trackingmulti-axis synchronous controlvirtual time delay spindle
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