基于H_∞反馈的直接驱动XY平台切向轮廓控制设计

Design of Tangential-Contouring Control for Direct Drive XY Table Based on H_∞ Feedback

为了提高XY平台的轮廓加工精度,在分析系统轮廓误差的基础上,提出将H∞速度反馈控制器和切向-轮廓控制器(TCC)相结合的控制策略。在速度环内采用H∞鲁棒控制理论设计反馈控制器,在具有模型摄动及外部干扰的情况下,保证了闭环系统的鲁棒稳定性和鲁棒性能,TCC使得XY平台之间的耦合作用消除,且轮廓控制器设计变得更加直接和简单。单轴系统采用IP(积分-比例)控制与速度前馈控制相结合的复合控制器。仿真结果表明所设计控制系统在保证具有较好的跟踪性能、鲁棒性能的同时轮廓精度大大提高。

To improve the contour machining precision of XY table,on the basis of analyzing the contour error of system,the control strategy combining H∞ velocity feedback controller and tangential-contouring controller（TCC）was presented in the paper.The H∞ control theory was used to design a feedback controller in order to guarantee robust stability and robust performance of the closed-loop system under the condition of model perturbation and external disturbance.TCC makes the coupling effect between XY table eliminate and design of contour controller become more direct and simple.A compound controller combining the IP（proportion-integration） control with speed feed-forward control was used for the single axis system.The simulation results show that the designed control system possesses good tracking performance,strong robustness and high contour accuracy.