多伺服电机电子凸轮设计（英文）

Design of multi-servomotor electronic cam

针对多伺服电机运动平台,以4台电机为控制对象,通过分析运动平台的结构特点和工艺要求,设计了基于无因次通用简谐梯形组合曲线的电子凸轮曲线,保证了加速度曲线和跃度曲线的连续性,提高了平台的运动性能。实验结果表明:采用电子凸轮方案后,控制系统在位移精度和响应速度方面均获得了良好的效果,且跟随误差可以控制在1°以内。

According to the servo motor motion platform, with 4 motors as the control object, through the analysis of structure characteristics and technology of motion platform, the electronic cam curve is designed based on dimensionless general harmonic trapezoid curve, the motion performance of the platform is improved. The experimental results show that the control system could achieve good results in the displacement accuracy and response speed, and the tracking error can be controlled within 1 degrees.