多轴强健式交叉耦合同步控制设计.PDF

多轴強健式交叉耦合同步控制设计 李俊堂 （平顶山工业职业技术学院 自动化系，河南 平顶山467001） 摘要：针对多轴同步运动系统易产生同步误差，从而造成加工精度下降的问题，提出了一种基于位置控制回路模式的强健 式交叉耦合同步控制算法，利用位置命令与响应的关系，进而修正位置控制命令，将此控制器架构应用于位置控制回路中。 首先推导了同步误差模型，获得系统多轴同步误差；然后结合 原理，设计了强健式交叉耦合同步控制器，根据各轴位 H  置同步误差，修正各轴命令，改善多轴同步误差；最后，将此强健式同动控制算法应用于四自由度伺服同动平台。研究结 果表明，多自由度运动控制的最大位置同步误差改善至少44%、平均位置同步误差改善75%以上、均方根位置同步误差 改善74%以上，同步性能明显改善。 关键词：强健式；同步控制；交叉耦合；同步误差；位置回路 中图分类号：TP391 文献标识码：A Synchronouscontrol designwithmulti-axisrobust crosscoupling LIJun-tang （Department ofAutomation，Pingdingshan IndustrialCollege ofTechnology，HeNan Pingdingshan 467001,China） Abstract: Aming at the problem of machining accuracy decrease, which was generated due to the synchronization error occurring in multi-axis synchronous motion system, the synchronous control algorithm with robust cross coupling was proposed based on position control loop mode. The relation between location command and response was used. Then the position control command was corrected. And such controller architecture was applied in position control loop. Firstly, the synchronization error model was deduced to obtain multi-axis synchronization error of the system. Secondly, combining with H principle, the ∞ synchronous controller with robust cross coupling was designed.According to the synchronization error of each axisposition,the command of each axis was corrected to reduce the multi-axis synchronization error. Finally, the robust synchronization control algorithm was appliedto a four-degree-of-freedom servo synchronizationplatform.Theresultsindicatethat themaximum position synchronization error of multi- de