一种电子凸轮轨迹跟踪控制方法

以电子凸轮为研究对象,提出一种轨迹跟踪控制方法。阐述了电子凸轮运动规律,在此基础上基于3次非均匀B样条曲线给出了一种凸轮曲线设计方法。为提高凸轮轨迹跟踪精度,设计了模糊滑模迭代控制器。迭代学习控制算法可用于实现目标轨迹的跟踪;模糊控制和滑模控制则可以提高电子凸轮的收敛速度与鲁棒性。滑模控制器处理轨迹偏差及其变化率;模糊控制器对滑模输出进行模糊化和解模糊化处理;通过实时控制调节迭代学习控制器的增量得到理想的轨迹跟踪效果。针对基于伺服电机的电子凸轮,控制系统给出了具体硬件架构。通过实验验证表明,模糊滑模迭代控制算法能够满足电子凸轮对轨迹跟踪精度与鲁棒性的要求,电子凸轮能够有效取代传统的机械凸轮机构。

An Electronic-cam Trajectory Tracking Control Method

A trajectory tracking control method was proposed with electronic-cam as the research object.The motion law of electronic-cam was described.On this basis,a design method of cam curve was presented based on three non-uniform B-spline curves.A fuzzy sliding mode iteration controller was designed to improve the tracking accuracy of the cam.The iterative learning control algorithm can be used to track the target trajectory,and the fuzzy control and sliding mode control can improve the convergence speed and robustness of electronic-cam.The sliding mode controller deals with trajectory deviation and its rate of change.The fuzzy controller deals with the output of sliding mode by fuzzification and defuzzification treatment.An ideal trajectory tracking effect was obtained by adjusting the increment of the iterative learning controller by real-time control.The hardware architecture of the electronic-cam control system based on servo motor was given.The experimental results show that the fuzzy sliding mode iterative control algorithm can meet the requirements of the electronic-cam tracking accuracy and robustness.The electronic-cam can effectively replace the traditional mechanical cam mechanism.