XY平台直线伺服系统的IP变增益交叉耦合控制

XY平台直线伺服系统中,负载扰动、机械时间延迟及各轴响应速度不同会影响轮廓加工精度,为此提出了一种将积分-比例(I-P)控制、速度前馈控制及变增益交叉耦合控制相结合的控制策略。单轴采用由IP控制和前馈控制构成的复合速度控制器,IP控制具有快速响应和抑制扰动的能力,速度前馈控制可增加系统跟踪能力,降低机械时间延迟效应。间接减小轮廓误差。并且,在X、Y轴间加入变增益交叉耦合控制器,直接减小轮廓误差。仿真结果表明该控制方案可增强系统的鲁棒性,提高系统的快速性和轮廓加工精度。

IP Variable Gain Cross-coupled Control of Linear Motor Driven XY Table Servo System

To weaken the influences of load disturbances,mechanical time delay,and the velocity mismatch between X axis and Y axis to the contour precision of XY table linear servo system,a compound control scheme based on combining IP control,speed feed-forward and variable gain cross-coupled control is presented in this paper.The monoaxial speed controller is composed of IP controller and feed forward controller.IP control has capability of responding fast and overcoming the load disturbances.Moreover,speed feed forward control is used to ensure that the system has high tracking performance,it also can shorten mechanical delay,and indirectly reduce contour error.A variable gain cross-coupled controller is also designed between X axis and Y axis;to directly reduce contour error.The simulation results show that the control scheme not only has a strong robustness to load disturbances,but also can enhance the rapidity and contour precision.