摘要
本文设计了全自动化学发光免疫分析仪取样平台的运动控制器。单轴控制器采用速度内环、位置外环的双闭环结构。其中位置控制环采用模糊控制,并进行前馈补偿,构成复合控制。同时考虑两轴联动的动态配合,设计了变增益交叉耦合控制器,补偿轮廓误差。实验结果表明,采用此控制策略不仅有效的提高了系统的单轴跟踪性能,而且轮廓误差明显降低。
in this paper,a motion controller for the sampling platform of a automated chemiluminescence immunoassay analyzer is developed.The single-axis controller has a double closed-loop structure,consisting of an inside velocity loop and an outside position loop.in the position loop,the fuzzy controller and the feedforward compound controller are used.in consideration of the dynamic cooperation of the two axes,a variant gain cross-coupling-controller is designed to minimize contour error.Experimental results indicates that,by using this control strategy,not only the single-axis tracking performance having been improved efficiently,but the contour error having been minimized significantly.
出处
《软件》
2011年第3期84-87,共4页
Software
关键词
运动控制
轮廓误差
前馈复合控制
变增益交叉耦合控制
motion control
contour error
feedforward compound control
variant gain cross-coupling-control
