A layered modeling method is proposed to resolve the problems resulting from the complexity of the error model of a multi-axis motion control system. In this model, a low level layer can be used as a virtual axis by t...A layered modeling method is proposed to resolve the problems resulting from the complexity of the error model of a multi-axis motion control system. In this model, a low level layer can be used as a virtual axis by the high level layer. The first advantage of this model is that the complex error model of a four-axis motion control system can be divided into several simple layers and each layer has different coupling strength to match the real control system. The second advantage lies in the fact that the controller in each layer can be designed specifically for a certain purpose. In this research, a three-layered cross coupling scheme in a four-axis motion control system is proposed to compensate the contouring error of the motion control system. Simulation results show that the maximum contouring error is reduced from 0.208 mm to 0.022 mm and the integration of absolute error is reduced from 0.108 mm to 0.015 mm, which are respectively better than 0.027 mm and 0.037 mm by the traditional method. And in the bottom layer the proposed method also has remarkable ability to achieve high contouring accuracy.展开更多
A model predictive optimal control method for magnetically suspended flywheel is presented.In order to suppress the conical whirl of the rotor caused by gyroscopic effect,the synchronization error is added to the trad...A model predictive optimal control method for magnetically suspended flywheel is presented.In order to suppress the conical whirl of the rotor caused by gyroscopic effect,the synchronization error is added to the traditional quadratic performance index.The target performance index is composed of the translatory error,the synchronization error,and the control output predicted by the discrete-time state model.The optimal controller is obtained by means of iterating a Riccati difference equation(RDE).Stability of the control scheme is investigated through fake algebraic Riccati technique(FART).The robust performance of the controller with respect to control parameters is studied by simulation.Results of the simulation and experiment on a compact magnetically suspended flywheel demonstrate that the proposed controller with consideration of the synchronization error is very effective to suppress the conical whirl caused by gyroscopic effect.展开更多
基金Project(51005086)supported by the National Natural Science Foundation of ChinaProject(2010MS085)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(DMETKF2013008)supported by the Open Project of the State Key Laboratory of Digital Manufacturing Equipment and Technology,China
文摘A layered modeling method is proposed to resolve the problems resulting from the complexity of the error model of a multi-axis motion control system. In this model, a low level layer can be used as a virtual axis by the high level layer. The first advantage of this model is that the complex error model of a four-axis motion control system can be divided into several simple layers and each layer has different coupling strength to match the real control system. The second advantage lies in the fact that the controller in each layer can be designed specifically for a certain purpose. In this research, a three-layered cross coupling scheme in a four-axis motion control system is proposed to compensate the contouring error of the motion control system. Simulation results show that the maximum contouring error is reduced from 0.208 mm to 0.022 mm and the integration of absolute error is reduced from 0.108 mm to 0.015 mm, which are respectively better than 0.027 mm and 0.037 mm by the traditional method. And in the bottom layer the proposed method also has remarkable ability to achieve high contouring accuracy.
文摘A model predictive optimal control method for magnetically suspended flywheel is presented.In order to suppress the conical whirl of the rotor caused by gyroscopic effect,the synchronization error is added to the traditional quadratic performance index.The target performance index is composed of the translatory error,the synchronization error,and the control output predicted by the discrete-time state model.The optimal controller is obtained by means of iterating a Riccati difference equation(RDE).Stability of the control scheme is investigated through fake algebraic Riccati technique(FART).The robust performance of the controller with respect to control parameters is studied by simulation.Results of the simulation and experiment on a compact magnetically suspended flywheel demonstrate that the proposed controller with consideration of the synchronization error is very effective to suppress the conical whirl caused by gyroscopic effect.
