高速轮廓运动综合位置误差控制的研究

高速轮廓运动控制技术已广泛应用于工业中。目前研究主要从减少伺服跟随误差和采用交叉耦合控制减少轮廓误差两个方面来提高运动精度。文章对几种常见的控制方法进行了讨论，并给出了一种综合位置误差控制的方案。该控制方案可在不改变原位置环的基础上大大提高位置伺服的性能，减小高速运动和参数扰动时的轮廓误差。控制理论分析和仿真结果表明了其有效性，且该方案容易实现。

Comprehensinve position error control for high-speed contour motion

High-speed contour motion control technology have been applied in industry extensively.Many studies were developed to improve high-speed controur accuracy,which were mainly realized by reducing following errors of each axis independently or by decreasing contour errors directly using cross-coupled controllers. Firstly,this paper discussed the several control algorithms proposed in reference papers. Consequently, the paper presented a new comprehensive position controller. Without changing original position loops,the performance of position servo system waw improved greatly,and the typical contour errors were reducing obviously under the high-speed motion or parmeter disturbing. The theoretical analysis and simulation using MATAB software indicated that this comprehensive position controller is valid,and can be achieved easily.