速度-位置偏差耦合复合控制机电一体化仿真

四轴升降活动板系统运行时需要同步抬升并倾斜，受负载扰动后易产生姿态误差，为了避免姿态误差累积过多导致机械设备损坏，应当使用合适的位置同步控制策略。传统的位置偏差耦合控制受扰后产生的姿态误差较大，反应不够迅速。因此提出模糊增益调节的速度-位置偏差耦合复合控制方法，并在Matlab/Simulink中搭建了仿真模型进行负载扰动实验。实验结果表明该方法系统在起动和受负载扰动时产生的姿态误差小，消除速度快，比传统的位置偏差耦合控制同步性能更好。为了提前验证控制方法在设备上的效果，还建立了基于PLCSIM Advanced与MCD（Mechatronics Concept Design）的机电一体化仿真平台，测试结果表明:系统整体功能完善，活动板倾斜角速度稳定，姿态误差仅0.142°。

Mechatronics simulation of velocity - position deviation coupling compound control

The four-axis lifting moving plate system needs to be lifted and tilted synchronously in the process of operation. After being disturbed by the load, attitude errors are easy to occur. In order to avoid the mechanical equipment damage caused by too much accumulated attitude errors, an appropriate position synchronization control strategy should be used. T he traditional position deviation coupling control has big attitude error and is not quick enough. Therefore ，the fuzzy gain velocity - position deviation coupling compound control method was proposed to solve the problem above, and a simulation model was built in Matlab/Simulink for load disturbance experiment. The experiment shows that this method has better synchronization performance than traditional position deviation coupling control method when system is starting or being disturbed by load. In order to verify the performance of the control method on the equipment in advance, a mechatronics simulation platform based on PLCSIM Advanced and MCD (Mechatronics Concept Design) was established. The results show that the overall function of the system is perfect, the tilt Angle velocity of the moving plate is stable, and the attitude control error is only 0.142°.