摘要
对于直线电机驱动XY平台,系统动态的非线性、系统不确定性因素以及曲线轨迹的轮廓误差模型相对复杂等问题影响其轮廓加工精度。采用适用于多轴非线性运动系统轮廓控制的等效误差法,建立可用于一般曲线跟踪且容易计算的XY平台等效误差非线性模型。运用二阶滑模控制方法进行轮廓控制器的设计,通过连续控制量使滑模面及其时间导数在有限时间内趋近于零,削弱抖振的同时抑制不确定性因素对系统性能的影响,使直线电机XY平台达到高加工精度要求。理论推导与仿真结果表明,所设计控制系统能有效提高XY平台的轮廓加工精度。
The contour accuracy of XY table directly driven by two linear motors was influenced by the nonlinear dynamic,system uncertainties and complicated contour error model of curve trajectory. To establish XY table model that easily calculated and suitable for general curves,the equivalent errors method applicable for multi-axis nonlinear motion system was adopted. In order to improve the contour accuracy and robustness of linear motor XY table,the second order sliding mode contour controller was designed. Then the sliding mode surfaced and its derivative approached zero in finite time. The effects of chattering and uncertainties were reduced and the equivalent errors approached zero. Simulation results show that the designed control system of XY table has strong robustness and high contour accuracy.
出处
《中国电机工程学报》
EI
CSCD
北大核心
2010年第6期88-92,共5页
Proceedings of the CSEE
基金
国家自然科学基金项目(50805098)~~
关键词
XY平台
直线电机
轮廓误差
等效误差法
二阶滑模控制
XY table linear motor contour error equivalent errors method second order sliding mode control
