摘要
对于直线电机驱动XY平台,非线性的系统动态、曲线轨迹的轮廓误差模型相对复杂以及传统控制无系统化参数调整规则等问题影响其轮廓加工精度。采用适用于非线性运动系统轮廓控制的极坐标法,建立可用于一般曲线且容易计算的直线电机XY平台极坐标误差非线性模型,使轮廓控制问题转换为稳定化的问题。对非线性误差动态模型进行反馈线性化处理后设计状态反馈控制器,使轮廓误差趋近于零。理论推导与仿真结果表明所设计控制系统能有效提高直线电机XY平台的轮廓加工精度。
The nonlinear system dynamic,complicated contour error model of curve path and irregular parameter adjustment of conventional control can affect the contour accuracy of XY table directly driven by two permanent magnet linear synchronous motors（PMLSM）.The polar coordinates method applicable for nonlinear motion system was adopted.Based on the established nonlinear polar coordinates error model that easily calculated and suitable for general curves of linear motor XY stable,the contour control problem was converted to the stabilization of error dynamic system.Through feedback linearization and state feedback control,the polar coordinates errors approached zero.Theoretical analysis and simulation results show that the designed control system make linear motor XY table possess high contour accuracy.
出处
《组合机床与自动化加工技术》
北大核心
2010年第6期57-60,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(50805098)
关键词
直线电机
XY平台
极坐标法
反馈线性化
轮廓控制
linear motor
XY table
polar coordinates errors method
feedback linearization
contour control
