基于误差驱动的运动曲线规划方法

Method of Planning Motion Curve Based on Error Driving

为保证试验装置的现场运行符合高精度和低成本的需求,提出一种基于误差驱动的运动曲线规划方法。以研制与调试某试验装置为例,基于误差驱动进行了运动曲线规划,确定装置设计精度要求,对精度进行合理分配和合成,并给出特定标定曲线以验证该装置的轨迹跟踪特性。结果表明:该方法能提供符合装置精度控制要求的运动曲线规划,机构运行平稳且具有良好的跟踪特性。

In order to ensuring the need of high-accuracy and low cost that the test facility runs scene, this paper suggest that one kind of error drive-based motion curve plans method. Taking developing and testing a test facility as example, planned the motion curve based on error drives, make sure the assignment and combining on accuracy, and give the specially request designing accuracy for design, carry out rational scaling curve to verify the device of track characteristic property. As a result, the method can provide the motion curve planning of the controlling accuracy of the test facility, and the device can operate in stable states and have fine tracking characteristic property always.