【作者】 刘伟锐； 孙玉文；

【Author】 LIU Wei-rui;SUN Yu-wen;School of Mechanical Engineering,Dalian University of Technology;

【机构】 大连理工大学机械工程学院；

【摘要】 为了提高多轴运动控制机构的跟踪精度,提出了一种新型预测补偿交叉耦合控制器(CPCC),它是一种整体调节控制器,包含了根据李雅普诺夫稳定性准则设计的多轴交叉耦合控制器和跟踪误差预测补偿模块。首先,建立了空间轮廓误差的几何模型,列出了跟踪误差和轮廓误差的数学表达式。然后,加入跟踪误差预测模块,利用单轴PID控制器结构推导出预测模型的微分方程,根据预测的跟踪误差估计轮廓误差。将由李雅普诺夫稳定性准则推导出的自适应稳定参数添加到交叉耦合控制器中,可实现自适应稳定调节控制器功能,分析了控制器内部结构,给出各个输出轴和交叉耦合控制的传递函数。轮廓误差经CPCC调节后,返回到插补器中更改理论数据,可进一步减小跟踪误差。最后,设计了两组对比仿真实验验证所提出的方法,根据实验结果可知,CPCC的预测值接近真实值并且减小轮廓误差效果明显。更多还原

【Abstract】 A cross-coupled prediction compensation controller(CPCC) is proposed for precise tracking in multi-axis motion control in this paper.It is an integral design method which contains multi-axis cross-coupled controller based on the Lyapunov’s stability rules and predicted model and compensated model of tracking errors.First,a contour error model in the space is introduced and its algebraic equations between the tracking error and contour error are established.Then,a predicted model of tracking errors is add into the controller which differential equation is deduced by single axis structure of PID controller,it can predict the contour error.While the adaptive parameters based on Lyapunov’s stability rules are put into the CCC which can self-adapt and stabilize the controller.At the same time,internal structure of controller is analyzed and transfer functions of cross-coupled controller and output axes are given.Next,contour errors of tool tip and tool orientation controlled by CPCC are returned to interpolator to amend the theoretical curve for minimizing the tracking errors.Finally,compared simulated experiments are carried out on a controller to verify the proposed method.The results show that predicted model can be closed to real values and contour errors are declined obviously by CPCC.更多还原