3轴电动转台动力耦合分析及抑制策略

Analysis and Control Strategy of a Three-Axis Electric Rotary Table Dynamic Coupling

针对某型号的3轴电动转台,从计算多体系统动力学的观点出发建立其运动学方程和动力学方程,并对这种耦合的影响进行了分析.提出了一种利用速度内反馈来主动抑制3轴电动转台动力耦合的策略.该策略和已有的被动解耦控制策略相比,不需要依赖对被控对象的精确建模,且比较容易实现.仿真结果证明了该耦合抑制策略的有效性,表明转台可以达到较高的位置精度和速率平稳度;转台的实际验证实验表明,控制策略使某电动转台达到了良好的性能指标.

This paper built a kinematics equation and dynamics equation for a three-axis electric rotary table from the point of view of dynamics of multibody systems,and studied the effect of the dynamic coupling.An active control strategy using velocity internal feedback for a three-axis electric rotary table dynamic coupling was presented.This strategy need not depend on the accurate modeling of the study object and it is very easy to be accomplished.The simulation result shows that this coupling control strategy is valid and the rotary table has obtained a good position accuracy and velocity smoothness.At last the paper（verifies） this control strategy in the practical application and the rotary table actually obtains a good control（performance） using this control strategy.