永磁直线电机驱动XY平台精密轮廓跟踪控制
Contour Tracking Fuzzy Control of XY Platform Driven by Two Axis High Precision Permanent Magnet Linear Motor
武志涛 1苏晓英1
作者信息
- 1. 辽宁科技大学电子与信息工程学院,鞍山 114051
- 折叠
摘要
为了减少高速进给率条件下轮廓跟踪过程中产生的轮廓误差,提出了一种将PDFF位置控制器与模糊交叉耦合控制器相结合的控制策略.首先,通过调节前馈增益,PDFF位置控制器可以综合利用PDF控制和PI控制的优点;其次,基于自由曲线轮廓误差模型来计算轮廓误差,并且提出一种以两轴的位置跟踪误差以及轮廓误差为输入的模糊交叉耦合器来减少轮廓跟踪过程中产生的轮廓误差;最后,空载与负载实验结果表明,与传统的交叉耦合结构相比,该方法在高速进给率条件下可以有效降低XY平台的轮廓误差,并且可以提高轮廓跟踪系统的鲁棒性.
Abstract
In order to reduce contour errors generated during contour tracking under high feedrate condi-tions,this paper proposes a control strategy that combines a PDFF(position-dependent feedforward)posi-tion controller with a fuzzy cross-coupling controller.Firstly,by adjusting the feedforward gain,the PDFF position controller can integrate the advantages of PDF control and PI control.Secondly,a contour error model based on a free-form curve is used to calculate the contour error,and a fuzzy cross-coupler is pro-posed that takes the position tracking error of two axes and the contour error as inputs to reduce the contour error during the contour tracking process.Finally,experimental results under no-load and load conditions demonstrate that compared to traditional cross-coupling structures,the proposed method effectively reduces the contour error of the XY platform under high feedrate conditions and improves the robustness of the con-tour tracking system.
关键词
轮廓误差/直线电机/交叉耦合控制/模糊控制Key words
contour error/linear motor/cross-coupled control/fuzzy control引用本文复制引用
基金项目
辽宁省自然科学基金(2022-KF-14-03)
辽宁省教育厅科研项目(LJKZ0308)
出版年
2024
NETL
NSTL
万方数据