基于全局任务坐标系的直驱XY平台学习互补滑模轮廓控制

doi:10.19595/j.cnki.1000-6753.tces.190039

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Abstract A contouring control scheme was proposed for direct drive XY table combining iterative learning control (ILC) and complementary sliding mode control (CSMC) in the global task coordinate frame (GTCF), in order to solve the problem of poor precision when processing high speed or sharp corner contours. Firstly, the error model was constructed by the derivative of actual contouring error. The contouring error and trajectory are used as control variables to establish the GTCF, which enables the system to operate in coordination. Then, the unmodelled dynamics in the contouring tracking process were compensated by ILC, and CSMC was used to suppress the influence of uncertainties such as parameters changing, external disturbances and so on in the direct drive XY table servo system. Finally, the system experimental results show that the proposed method has strong robustness and fast contouring tracking performance. It can achieve more accurate control performance, reduce the contouring error, and improve the high precision contouring machining performance of the direct drive XY table servo system.

Key words： Direct drive XY table global task coordinate frame iterative learning control complementary sliding mode control contouring control

Received: 12 January 2019

PACS:	TP273
	TM351

Fund: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

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	Yuan Hao
	Zhao Ximei

Cite this article:

Yuan Hao,Zhao Ximei. Learning Complementary Sliding Mode Contouring Control Based on Global Task Coordinate Frame for Direct Drive XY Table[J]. Transactions of China Electrotechnical Society, 2020, 35(10): 2141-2148.

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https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.190039 OR https://dgjsxb.ces-transaction.com/EN/Y2020/V35/I10/2141

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