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The Study of Feed Servo Cross-coupled Control System in Dual-axis

Author: XuQiangQiang
Tutor: ZengYueNan
School: Guangdong University of Technology
Course: Control Theory and Control Engineering
Keywords: Cross-coupling Contour error Biaxial Simulation
CLC: TG659
Type: Master's thesis
Year: 2011
Downloads: 115
Quote: 2
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Abstract


Biaxially motion control system, since each moving axis exists between the response delay is inconsistent, the parameters do not match, and load disturbances, making the mutual influence between the respective axes is dynamic tracking error, and thus, each axis of movement disharmony is bound to reflect the formation of the contour error contour. Cross-coupled control strategy each axis dynamic contour error caused accuracy problems, a better solution for the nonlinear trajectory curve, such as high-speed high finishing control, cross-coupled control performance limits, exposing certain limitations. Variable-gain cross-coupling controller is added between the two axes, according to the feedback information of each axis and interpolation values, real-time correction of contour error model gain, to seek the best compensation law, the compensation correction information back to each axis, which can be achieve the purpose of compensation contour error. This article variable gain cross-coupling control applied to the biaxial feed servo motion control system, the advantage of biaxial feed servo system to improve the As each axis dynamic characteristics do not match and load in any path can improve the contour error disturbance case contour control accuracy. Mainly to do the work of the following five aspects: 1) detailed mathematical model of linear servo system biaxial feed. Analysis of the basic structure and the basic principle of the permanent magnet linear synchronous motor, derived a mathematical model; provide a basis for follow-up controller algorithm. 2) a detailed analysis of the biaxial into the contour error to the linear servo system analysis and control strategy. Two-axis control system during operation, there are two types of errors: tracking error and contour error. General contour error control algorithm derived by analysis of the two types of errors under different track, to arrive at the two-axis coordinated motion control strategy. 3) design of biaxial feed linear servo system controller. Designed controller, variable gain cross-coupling controller as well as with the The PDFF variable gain cross-coupling controller. Introduces the mathematical basis of the individual controllers, control theory, the basic idea of ??the design method and mathematical models. 4) based on a theoretical study of biaxial feed servo system, Matlab / Simulink platform to build the cross-coupling control system simulation model, a computer simulation of the two control modes for linear servo system, and the results were a comparative analysis. Through the simulation, to verify the feasibility of the control algorithm, we can see that the system has good dynamic and static characteristics, fast and robustness. 5) Finally, the design of the entire system are summarized, and the problem exists in the system and follow-up studies to put forward their own views.

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