基于多轴同步滑模控制的积分分离PID算法的研究

Based on the Multi-axis Synchronous Sliding Mode Control of Integral Separation PID Algorithm Research

为了提高多轴系统之间的同步性能,采用积分分离PID算法来解决传统耦合同步控制算法的增益常数难以确定的问题。多轴间的同步误差先经过积分分离PID预处理再引入到滑模控制的切换函数中。使得滑模控制律的设计中不仅有系统的位置误差又包含系统的同步误差,同时为了保证了滑模运动的动态品质滑模运动采用指数趋近律。基于Lyaunov稳定性分析原理证明了设计算法的渐进稳定性。最后与无耦合补偿的双轴系统比较,验证了所设计算法不仅能保证单轴系统的运动性能,而且还有效的提升了多轴间的同步性能。

In order to improve the synchronization performance between the multiple axis system, the integral separation PID algorithm is used to solve problems of the traditional coupling synchronization control algorithm gain constant is difficult to determine. Multi-axis synchronization error first handled by the integral separation PID then introduced into the sliding mode control of switching function. Makes the design of sliding mode control law is not only contain the the system error and also system synchronization error, at the same time in order to ensure that the dynamic performance of the sliding mode motion, sliding mode motion using exponential reaching law. On the basis of the principle of Lyaunov stability analysis the asymptotic stability of the algorithm is proved. Finally compared with biaxial without coupling compensation system, the design algorithm is verified that it can not only ensure uniaxial motion performance of the system, but also can effectively enhance the multi-axis synchronization performance.