基于速度前瞻的双轴直线电机交叉耦合控制策略

doi:10.19595/j.cnki.1000-6753.tces.200346

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摘要为进一步提高双轴直驱型工作平台的加工精度,减小平面轮廓误差,并增强整体系统结构鲁棒性和响应速度,提出一种基于速度前瞻型双轴直线电机交叉耦合控制策略。首先建立基于双轴直线电机的数学模型,并改进自适应插补算法,设计能够适应广泛路径类型的交叉耦合轮廓误差控制器。同时利用双环滑模控制算法设计单轴电机控制器,该控制器可以提高电机对干扰做出反应的速度,并及时调整输出。为降低机械冲击和结构振动,利用速度前瞻控制器,提前根据曲率变化对路径进行S型速度规划,给出插补速度,实现了柔化运动过程,减小系统机械振荡的目的。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,提高控制精度。

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	李争
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	孙鹤旭
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	王群京

关键词 ：双轴直线电机, 交叉耦合控制算法, S型速度规划, Super-twisting滑模控制算法

Abstract：In order to further improve the processing accuracy of the working platform and enhance the overall system structure robustness and response speed, a speed prospective based cross-coupling control strategy for dual-axis linear motor is proposed. Firstly, a mathematical control model based on a dual-axis linear motor is established, and an adaptive interpolation algorithm is improved to design a cross-coupled contour error controller that can adapt to a wide range of path types. At the same time, the dual-loop sliding mode control algorithm is used to design a single-axis motor controller, which can increase the speed of the motor's response to interference and adjust the output in time. In order to reduce the mechanical shock and structural vibration, the speed-forward controller is used to plan the S-type speed according to the curvature change in advance and to provide the interpolation speed. It can realize the soft motion process and reduce the mechanical oscillation of the system. Experimental results show that this method significantly improves control accuracy and system performance.

Key words： Dual-axis linear motor cross-coupling control algorithm S-type speed planning Super-twisting sliding mode control algorithm

收稿日期: 2020-04-07

PACS:

TM359.4

基金资助:国家自然科学基金项目（51877070, 51577048）、河北省自然科学基金项目（E2018208155）、河北省人才工程培养项目（A201905008）、河北省高等学校科学技术研究重点项目（ZD2018228）和高节能电机及控制技术国家地方联合工程实验室开放课题基金项目（KFKT201901）资助

通讯作者: 孙鹤旭,男,1956年生,博士,教授,主要研究方向为电机及其控制技术。E-mail: sunhxhb@outlook.com

作者简介: 李争,男,1980年生,博士,教授,主要研究方向为特种电机及其控制技术。E-mail: Lzhfgd@163.com

引用本文:

李争, 肖宇, 孙鹤旭, 周硕, 王群京. 基于速度前瞻的双轴直线电机交叉耦合控制策略[J]. 电工技术学报, 2021, 36(5): 973-983. Li Zheng, Xiao Yu, Sun Hexu, Zhou Shuo, Wang Qunjing. Speed Prospective Based Cross-Coupling Control Strategy for Dual-Axis Linear Motor. Transactions of China Electrotechnical Society, 2021, 36(5): 973-983.

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