多轴系统高精度同步控制

发布时间：2018-04-04 09:01

本文选题：多轴系统　切入点：位置控制　出处：《西安电子科技大学》2012年硕士论文

【摘要】：由于机械系统的控制精度直接影响产品生产效率及质量，高精度控制一直是控制理论与应用的热点问题。为了提高多轴系统的控制品质，，不仅要考虑单个轴的控制精度，还要把各个轴之间的运动控制有机协调起来，才能达到系统整体全局性能的最优化。同步控制技术是多轴系统降低同步误差、保证加工精度的关键，也是当前机械设计和制造技术的一个重要发展方向。本文首先分析了多轴系统及同步控制技术的发展与现状，简单介绍了非线性控制理论。为了在保证控制精度的前提下，让控制算法易于工程实现，我们采用了非线性饱和函数tanh(·)和交叉耦合技术，提出了一种饱和比例-微分(SP-D)加位置同步误差的控制器，它很好的保证了同步控制精度。另外，在很多实际应用中，由于限定了系统完成的时间，或者为了避免超调，往往需要严格控制从起始点到期望位置之间的运动过程，就这种情况，我们提出了一种饱和比例-微分(SP-D)加前馈补偿的同步跟踪控制器，以有效的跟踪期望轨迹。最后，在工程实际中，当控制算法所需要的控制力矩超过驱动器最大输出力矩时，控制力矩会被限幅输出，这样就会严重影响系统的控制品质，为了避免这种情况，就前面两种控制器分别设计了相应的输入受限同步控制器。应用Lyapunov稳定性理论和LaSalle不变性原理证明了所设计控制器的稳定性，并通过实验证明了它们的优越性。
[Abstract]:Since the control precision of mechanical system directly affects the production efficiency and quality, high precision control has always been a hot issue in control theory and application.In order to improve the control quality of multi-axis system, not only the control accuracy of single axis should be considered, but also the motion control of each axis should be coordinated to optimize the overall global performance of the system.Synchronous control technology is the key to reduce synchronization error and ensure machining accuracy in multi-axis system. It is also an important development direction of current mechanical design and manufacturing technology.In this paper, the development and present situation of multiaxial system and synchronous control technology are analyzed, and the nonlinear control theory is briefly introduced.In order to ensure the control accuracy and make the control algorithm easy to be realized in engineering, we adopt the nonlinear saturation function tanh () and cross coupling technology, and propose a kind of controller with saturation proportional differential SP-D) and position synchronization error.It ensures the precision of synchronization control.In addition, in many practical applications, as a result of the system completion time limit, or in order to avoid overshoot, it is often necessary to strictly control the movement from the starting point to the desired position, in this case,We propose a kind of synchronous tracking controller with saturation proportional differential SP-D) plus feedforward compensation to track the desired trajectory effectively.Finally, in engineering practice, when the control torque required by the control algorithm exceeds the maximum output torque of the driver, the control torque will be limited, which will seriously affect the control quality of the system.The corresponding input constrained synchronous controllers are designed for the former two controllers.The stability of the designed controller is proved by using Lyapunov stability theory and LaSalle invariance principle, and their advantages are proved by experiments.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH165.2

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