舞台飞行机构运动控制轮廓误差策略研究

Research of Motion Control Contour Error on the Stage of Flight Agency

针对舞台飞行机构中轮廓误差控制精度差的问题,在传统的运动控制中,除了使用单轴闭环控制的方法来减少误差外,还使用多轴的协调控制方法来到达指定要求。本文是在分析了多轴协调控制的非交叉耦合的基础上,对双电机运动控制系统的交叉耦合控制策略进行研究,并提出了二维平面中双电机协调控制的曲线轨迹轮廓误差补偿修正方法。通过理论分析和MATLAB仿真实验,证实了这种方法可以有效的减少轮廓误差。

For the problem of the poor control precision of contour error on the stage of the flight agency in the traditional motion control, in addition to using uniaxial closed-loop control method to reduce the error, the multi-axis coordinated control method is used to specified requirements. Based on the analysis of the cross coupling control of the traditional coordination control, the cross coupling control strategy of the double motor motion control system is studied and the contour error compensation mechanism of the curve track of the double motor coordination control in the two-dimensional plane is put forward. And through theoretical analysis and Matlab simulation experiment, the method can effectively reduce the contour error.