摘要
针对具有非对称结构的直线电机驱动精密XY运动平台,为提高Y向双边同步运动控制性能,采用解耦补偿器和输出变换矩阵的方法获得了精密XY运动平台Y向解耦控制,并采用相对增益矩阵(RGA)定量分析了解耦性能。同时考虑到X轴位置变化,将解耦补偿器和输出变换矩阵设计成与X轴滑块位置参数相关的,从而实现参数变化解耦控制。运动平台控制仿真结果表明,该控制策略实现了两变量平动和转动的解耦控制,可以较好地完成双边同步控制。
In order to get excellent synchronization for motion control of the H-drive precision XY stage with asymmetric structure driven by linear motors,decoupling control of the H-drive precision XY stage was designed by decoupling compensator and output transformation matrix.Relative gain array（RGA） was used to measure the interactions.Besides,the decoupling compensator and output transformation matrix must be parameter-varying with position of x-slide.The result of the simulation shows that the decoupling control structure can acquire good tracking property and effectively restrain the force disturbance of the H-drive.
出处
《组合机床与自动化加工技术》
北大核心
2010年第9期30-33,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家重点基础研究发展计划(973计划)项目课题资助(2009CB724205)
