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Dual linear motors CNC precision contour tracking control platform Compensation Method

Author: LinShu
Tutor: WangLiMei
School: Shenyang University of Technology
Course: Control Theory and Control Engineering
Keywords: Permanent magnet linear synchronous motor XY stage Sliding Mode Control Robust Control Contour accuracy
CLC: TP273
Type: Master's thesis
Year: 2012
Downloads: 68
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Abstract


In this paper, permanent magnet linear synchronous motor (PMLSM) driven XY stage susceptible to nonlinear friction parameter perturbation, the system uncertainties and biaxial mismatch between the dynamic issues such as research, using the integral sliding mode controller and sliding mode observer and in X, Y-axis cross-coupling is introduced between XY stage controller to control the use of the global fast Terminal sliding mode position control, H $ and tangential velocity feedback control - contour control combined control strategy, thereby enhance the overall contour control precision XY stage, to achieve precise contour tracking control. Firstly, at home and abroad on the dual linear motor direct drive XY stage research literature widely read and analyzed, based on the working principle expounded PMLSM established direct drive XY platform and analyze mathematical models. XY platform system according to the characteristics of the work, analyze the course of its operation will inevitably produce a contour error, the contour error is defined and elaborated contour precision XY stage impact factors, to establish a common platform for contour error XY model. For high-speed, high-precision CNC machining, outline how to eliminate system errors and improve control precision contour tracking system, to achieve the coordination of direct drive XY stage control, so it is very necessary to achieve through the design of the servo controller precision XY stage contour tracking control. Secondly, the uniaxial using integral sliding mode controller and sliding mode observer combined control strategy is mainly used to achieve nonlinear dynamic friction compensation for XY table, get a smaller position error. Cross-coupling between the controller acts on the axis, in order to eliminate the gain parameters and dynamic parameters do not match the impact of significantly reducing the contour error. Simulation results show that even in the presence of friction, the proposed control method can effectively compensate for friction on the XY stage performance, to achieve high-precision XY stage contour tracking control. Finally, the global fast Terminal Sliding Mode Position Control with H $ velocity feedback control method and the combination of X, Y axis is introduced between the tangential - contour controller design direct drive XY platform. The proposed control strategy can effectively solve the load disturbance, the system parameter perturbation, the system dynamic uncertainty and biaxial mismatch problems, and the system can rapidly converge in finite time to equilibrium achieved between axis decoupling control The algorithm is simple and easy to achieve, in order to improve the response speed of the entire platform and contour control precision. In this paper, dual linear motor driven XY stage directly controlled object as research in the MATLAB software applications under the above control strategy for simulation and analysis. Simulation results show that the friction compensation based on an XY platform contour tracking control, dual linear motor driven XY stage robust tracking control are better able to solve the nonlinear friction parameter perturbation, the system uncertainty factors and biaxial mismatch between the dynamic issues such as the impact of the rapid realization of the XY stage tracking control, greatly improving the XY platform servo system robustness and precision contour control.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system
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