多轴液压联动实时插补控制算法

A Real-Time Interpolation Control Algorithm for Hydraulic Multi-Axis Coordinated Motion

分析了液压系统位置控制的特点和难点,研究了多轴液压联动控制时运动轨迹滞后大、速度不平稳等问题,采用设置主、从变量并对主变量预估的方法,提出了多轴液压联动运动轨迹的实时插补控制算法,并进行了算法的误差分析,给出了算法编程实现的具体步骤。

The characteristics and difficulties of the position control of the hydraulic system are analyzed. The problems, such as big lag of motion track and rough speed when hydraulic muhi-axis coordinated control are studied. By using the method of setting master-slave variables and estimating master variable, the real-time interpolation control algorithm for hydraulic muhi-axis coordinated motion track is put forward. The error analysis of the algorithm is carried out and the specific steps for algorithm programming are given.