| 基于ZPETC和CCC的直驱XY平台高精度控制 |
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| 引用本文： | 赵希梅,郭庆鼎.基于ZPETC和CCC的直驱XY平台高精度控制[J].组合机床与自动化加工技术,2011(2). |
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| 作者姓名： | 赵希梅 郭庆鼎 |
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| 作者单位： | 沈阳工业大学,电气工程学院,沈阳,110870 |
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| 基金项目： | 辽宁省科技厅博士科研启动基金项目，辽宁省教育厅科学技术研究项目 |
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| 摘 要： | 针对直接驱动XY平台轮廓加工中存在的电气--机械延迟、系统参数不确定性及两轴驱动系统参数不匹配等因素的影响,提出了将零相位误差跟踪控制器(ZPETC)与交叉耦合控制器(CCC)相结合的控制策略对两轴的运动进行协调控制,实现跟踪误差与轮廊误差同时减小.ZPETC作为前馈跟踪控制器,克服了伺服滞后,使系统实现准确跟踪,减小了跟踪误差;CCC作用于两轴之间,用以增加两轴间的匹配程度,以减小轮廓误差.仿真和实验结果表明所提出的控制方案具有较好的跟踪性和鲁棒性,进而大大提高了跟踪精度和轮廓精度.
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| 关 键 词： | XY平台 交叉耦合控制器 轮廓误差 |
High Precision Control Based on Zero Phase Error Tracking Controller and Cross-coupled Controller for Direct Drive XY Table |
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| ZHAO Xi-mei,GUO Qing-ding.High Precision Control Based on Zero Phase Error Tracking Controller and Cross-coupled Controller for Direct Drive XY Table[J].Modular Machine Tool & Automatic Manufacturing Technique,2011(2). |
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| Authors: | ZHAO Xi-mei GUO Qing-ding |
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| Affiliation: | ZHAO Xi-mei,GUO Qing-ding(School of Electrical Engineering,Shenyang University of Technology,Shenyang 110870,China) |
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| Abstract: | For the existing problems that influence the precision of the contour machining in direct drive XY table high precision contour machining,such as the electric-machine delay,the uncertainty of the system parameters,parameters unmatched of the double axis drive system and disturbances and so on.The control strategy combining zero phase error tracking controller(ZPETC) with cross-coupling controller(CCC) is presented to implement coordinate control for double axis and improve tracking error and contour error.Z... |
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| Keywords: | ZPETC |
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