基于极点配置的直线电机运动控制器设计

Motion Controller Design of Precision Stage based on Linear Motor

为了提高精密工作台的轨迹跟踪精度和动态响应性能,基于辨识出的控制对象离散化模型,利用极点配置方法设计精密工作台运动控制器的前馈环节和反馈环节,构成具有两自由度结构的精密工作台运动控制系统。通过实验,与PD+加速度前馈的控制方式相比较,精密工作台静态定位误差提高了0.5μm;当精密工作台以120mm/s匀速运动时,轨迹跟踪精度提高了2μm,定位建立时间缩短了10ms。表明,采用极点配置方法设计的运动控制器具有较好的动态响应和轨迹跟踪性能。

<Abstrcat>In order to improve the tracking accuracy and dynamical responsibility of the precision worktable,based on the discrete model of the identified control lbject,poleassignment method is used to design the feedforward loop and feedback loop of the motion controller for the precision worktable.In the check experiments,compared to the PD control with acceleration feedforward,the static positioning accuracy is improved 0.5μm,and the tracking accuracy is improved 3μm at the uniform speed of 120mm/s,while the positioning establishing time reduces by 10ms.The results show that motion controllers based on the pole assignment method have much more dynamical responsibility and traching performance.