直驱H型平台的Laguerre迭代轮廓控制研究

Research on Laguerre Iterative Contour Control for Direct Driven H-Type Platform

针对直驱H型平台在跟踪大曲率复杂轮廓时,轮廓精度低的问题,提出一种精密轮廓跟踪迭代控制方法。采用有理多项式求根的方法精确计算在大曲率高速运动过程中的轮廓误差精确模型,应用Laguerre迭代估计方法结合交叉耦合控制器设计了综合考虑多轴协同运动的控制方案,以切实保证此类系统在实际应用中的高性能轮廓跟踪。系统实验结果表明,该控制方法能够减小系统的轮廓误差,提高直驱H型运动平台的轮廓跟踪精度。

Aiming at the problem that the contour error of direct drive H-type platform is not significantly reduced and the control accuracy is not high under large curvature and complex working conditions, a precision contour tracking iterative control method is proposed.The accurate contour error model in the process of high-speed motion with large curvature is accurately calculated by using the root finding method of rational polynomial.The control scheme considering multi axis cooperative motion is designed by using Laguerre iterative estimation method and cross coupling controller, so as to ensure the high-performance contour tracking of this kind of system in practical application.The experimental results show that the control method can reduce the contour error of the system and improve the contour tracking accuracy of the direct drive H-type motion platform.