【摘要】 针对工业控制中常出现的双轴伺服系统轮廓控制问题,在分析典型曲线轨迹轮廓误差的基础上,设计了一种具有位置闭环反馈和轴间协调控制器的交叉耦合控制(CCC)结构。通过CCC结构进行轮廓误差估计,利用轮廓误差分配系数把估计值补偿到各伺服轴上以实现精确轮廓控制,并给出了基于轮廓误差传递函数的稳定性分析。在X-Y双轴平台上进行实验,结果表明:与传统非耦合情况相比,交叉耦合控制结构下的轮廓误差在平均值,最大值和均方根值减小了63.01%,56.28%和62.07%。更多还原

【Abstract】 In order to solve the contour control problem for biaxial servo system,contour errors under typical trajectories have been studied and a cross-coupled control(CCC) structure composed of position feedback and coordination controllers is proposed in this paper.The control effects are distributed to each axis through CCC structure and stability analysis is given using the contour error transfer function.Experiment results based on biaxial system showthat the contour errors have decreased by 63.01%,56.28% and 62.07%in average,maximum and RMS values using proposed CCC structure compared with the traditional uncoupled structure.更多还原