基于交叉耦合迭代学习的三轴运动控制算法研究

Research on Three-axis Motion Control Algorithm Based on Cross-coupling Iterative Learning

随着科技的日新月异、工业的快速发展,许多工业领域对控制系统的性能提出了更高的要求,普通平面控制系统已经无法满足日益复杂的空间作业任务,而三轴运动控制系统在三维空间任务中具有强大的优势。从制造业的角度出发,致力于研究一种面向三轴运动控制系统的交叉耦合迭代学习的轮廓误差控制方法,既能保证单轴的跟踪性能,又能减小各轴之间运动的不协调,从而减小轮廓误差。介绍传统的两轴误差模型和基于向量法的三轴误差模型,以及迭代学习控制和交叉耦合控制的概念;针对三轴运动控制系统的性能提升提出一种三轴交叉耦合-迭代学习控制算法;设计相关对比实验,实验结果表明该算法能有效减小轮廓误差。

With the rapid development of science and technology and the rapid development of industry, many industrial fields have put forward higher requirements for the performance of control systems.Ordinary planar control systems can no longer meet the increasingly complex spatial tasks, while three-axis motion control systems have a strong advantage in three-dimensional space tasks.Therefore, from the perspective of the manufacturing industry, an iterative learning cross-coupled contour error control method is devoted to research for three-axis motion control systems, by which not only the tracking performance of a single axis can be ensured, but also the inconsistency of the movement between the axes can be reduced to decrease the contour error.The traditional two-axis error model and the three-axis error model based on the vector method were introduced, as well as the concepts of iterative learning control and cross-coupling control.A three-axis cross-coupling iterative learning control algorithm was proposed to improve the performance of the three-axis motion control system.Finally through related comparative experiments, it is verified the algorithm can be used to reduce the contour error effectively.