多轴强健式交叉耦合同步控制设计

Robust Cross-coupling Synchronization Control Design for Multi-axis Systems

针对多轴同步运动系统易产生同步误差,从而造成加工精度下降的问题,提出了一种基于位置控制回路模式的强健式交叉耦合同步控制算法。该算法利用位置命令与响应的关系,进而修正位置控制命令,将交叉耦合同步控制器架构应用于位置控制回路中。首先,推导了同步误差模型,获得系统多轴同步误差;然后,结合H∞原理,设计了强健式交叉耦合同步控制器,根据各轴位置同步误差,修正各轴命令,改善多轴同步误差;最后,将此算法应用于四自由度伺服同动平台。研究结果表明,使用所提算法后,最大位置同步误差减少44%以上,平均位置同步误差减少75%以上,均方根位置同步误差减少74%以上,同步性能明显改善。

Aiming at the problem that the multi-axis synchronization motion system is easy to produce synchronization errors,which causes the machining accuracy to decrease,the robust cross-coupling synchronization control algorithm is proposed based on position control loop mode.The relationship between position command and response is used to correct position control command.And the cross-coupling synchronization controller architecture is applied in position control loop.Firstly,the synchronization error model is deduced to obtain the multi-axis synchronization error of the system.Secondly,combined with H∞principle,the robust cross-coupling synchronization controller is designed.According to the synchronization error of each axis position,the command of each axis is corrected to reduce the multi-axis synchronization error.Finally,the proposed algorithm is applied to a four-degree-of-freedom servo synchronization platform.The results show that after using the proposed algorithm,the maximum position synchronization error is reduced by more than 44%,the average position synchronization error is reduced by more than 75%,and the root mean square position synchronization error is reduced by more than 74%.The synchronization performance is improved significantly.