基于速度场与反馈线性化的直接驱动XY平台轮廓控制

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Abstract To improved contour accuracy of XY table directly driven by two linear motors, a novel control law that combined the velocity vector field and the feedback linearization method is proposed. To plan the contour desired path and transform biaxial coordination control into the velocity control of single axis, constructs velocity field based direction field grid point method. In order to reduce the velocity error directly and eliminate nonlinear dynamics, the state feedback controller is designed. Simulation results show that the proposed scheme can ensure the system has the higher contour accuracy.

Key words： XY table velocity field direction field grid point feedback linearization contour accuracy

Received: 24 August 2012 Published: 05 November 2014

PACS:

TM315

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	Wang Limei
	Li Bing

Cite this article:

Wang Limei,Li Bing. Contour Control for Direct Drive XY Table Based on Velocity Field and Feedback Linearization[J]. Transactions of China Electrotechnical Society, 2014, 29(5): 213-220.

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http://dgjsxb.ces-transaction.com/EN/ OR http://dgjsxb.ces-transaction.com/EN/Y2014/V29/I5/213

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