电工技术学报  2019, Vol. 34 Issue (21): 4474-4480    DOI: 10.19595/j.cnki.1000-6753.tces.181235
电机与电器 |
基于动态轮廓误差估计的双轴直驱平台精密轮廓控制
原浩, 赵希梅
沈阳工业大学电气工程学院 沈阳 110870
Precision Contouring Control Based on Dynamic Contouring Error Estimation for Dual Axis Direct Drive Platform
Yuan Hao, Zhao Ximei
School of Electrical Engineering Shenyang University of Technology Shenyang 110870 China
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摘要 为使双轴直驱平台在加工高进给率或存在尖角的轮廓时能实现高精度轮廓控制,提出一种动态轮廓误差估计(CEE)和互补滑模控制器(CSMC)相结合的精密轮廓控制方案。首先,建立含有参数变化、摩擦力等不确定性因素的双直线伺服系统动态方程。接着,采用牛顿极值搜索算法进行动态CEE并在每个采样点对轮廓误差参数的梯度向量和Hessian矩阵进行更新,具有较快的收敛速度和良好的瞬态性能;构建由位置误差和轮廓误差估计量形成的修正误差,作为CSMC的输入,利用CSMC抑制系统不确定性因素的影响,提高系统的鲁棒性。实验结果表明,该控制方法能够明显地提高系统的控制性能,减小系统的轮廓误差,进而改善双轴直驱平台的伺服系统轮廓加工精度。
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原浩
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关键词 双轴直驱平台动态轮廓误差估计互补滑模控制器轮廓控制    
Abstract:A precision contouring control scheme combining dynamic contouring error estimation (CEE) and complementary sliding mode controller (CSMC) is proposed for dual axis direct drive platform, in order to implement high precision contouring control with machining high feed rate or sharp corner contours. Firstly, dynamic equations of dual linear servo system with uncertainties, such as parameters changing and friction, are established. Then, a dynamic CEE based on Newton extremum seeking algorithm is adopted. The gradient vector and Hessian matrix of contouring error parameters are updated at each sampling point. The proposed algorithm has fast convergence rate and good transient performance. The modified error formed by tracking error and contouring error estimation is used as the input of the CSMC. The influence of system uncertainties is suppressed by CSMC, the robustness of the system is enhanced. The experimental results show that the control method can significantly improve the control performance and reduce the contouring error. The contour machining accuracy of the dual axis direct drive platform servo system is also improved.
Key wordsDual axis direct drive platform    dynamic contouring error estimation    complementary sliding model controller    contouring control   
收稿日期: 2018-07-16      出版日期: 2019-11-18
PACS: TP273  
基金资助:辽宁省自然科学基金计划重点项目(20170540677)和辽宁省教育厅科学技术研究项目(LQGD2017025)资助
通讯作者: 赵希梅 女,1979年生,教授,博士生导师,研究方向为电机控制、机器人控制、智能控制等。E-mail: zhaoxm_sut@163.com   
作者简介: 原浩 男,1992年生,博士研究生,研究方向为直线伺服、智能控制等。E-mail: yuanhao_sut@163.com
引用本文:   
原浩, 赵希梅. 基于动态轮廓误差估计的双轴直驱平台精密轮廓控制[J]. 电工技术学报, 2019, 34(21): 4474-4480. Yuan Hao, Zhao Ximei. Precision Contouring Control Based on Dynamic Contouring Error Estimation for Dual Axis Direct Drive Platform. Transactions of China Electrotechnical Society, 2019, 34(21): 4474-4480.
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