摘要
针对由音圈电机驱动的X-Y精密定位平台系统,提出了一种基于S函数的实时离散傅里叶变换(DFT)算法来进行系统辨识,从而建立定位平台的数学模型。基于系统数学模型,采用混合灵敏度优化的方法,设计了一种H∞鲁棒控制器。该控制器对模型的不确定性及外部干扰具有较好的抑制作用,从而能够很好地改善系统性能,并利用仿真及实时控制实验验证该控制算法的有效性。结果表明该控制器较好的改善了系统的动态特性,使其具有响应速度快、稳定性好以及良好的抗干扰能力等优点。
Based on a X-Y precision positioning gantry driven by Voice Coil Motor （VCM）, a method of system identification using a real-time online DFT algorithm is proposed for obtain the model of the control system. With the system model, the method of mixed sensitivity optimization is introduced to design a H, robust controller. The robust controller has better robustness against the model uncertainties and external disturbances. The effectiveness of the proposed method for high precision positioning of the servo gantry system is verified by simulations and experiments. The results demonstrate that the performance of X-Y gantry is improved, having quick responses, better stabilities and the capability against disturbances.
出处
《组合机床与自动化加工技术》
北大核心
2013年第9期73-76,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家科技重大专项(2012ZX04010-021)
