伺服运动控制轮廓误差补偿技术研究

Research of contour error compensation technology based on servo motion control

针对单轴的定位精度问题提出了迭代学习控制方法来减小跟踪误差,并在传统PID-CCC控制器的基础上提出了模糊自适应算法在线自动调整交叉耦合的PID参数。实验证明将该方法应用于轮廓误差补偿,能够提高两轴的协调性能,可以快速地跟踪轮廓参考轨迹,不但很大程度上减小了系统跟踪误差与轮廓误差,还提高了控制系统的鲁棒性。

This paper proposes an iterative learning control to reduce the tracking error aiming at the single axis positioning accuracy problem. Furthermore,a fuzzy adaptive algorithm is proposed to automatically adjust the PID parameters of cross coupling on the basis of the traditional PID- CCC controller. Experimental results show that compensating contour error with this method improves the performance of two- axis coordinate,shortens the track time of reference trajectory,enormously reduce both the system tracking error and contour error as well as improve the robustness of the system greatly.