| 多轴协调运动中的交叉耦合控制 |
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| 引用本文： | 丛爽,刘宜. 多轴协调运动中的交叉耦合控制[J]. 机械设计与制造, 2006, 0(10): 166-168 |
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| 作者姓名： | 丛爽 刘宜 |
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| 作者单位： | 中国科学技术大学,合肥,230027 |
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| 摘 要： | 直接把轮廓误差作为控制的目标,在多轴运动的各轴之间引入耦合因素,通过各轴间的协调来提高轮廓精度,而不仅仅通过单轴解藕控制改善各轴的位置跟踪精度。就多轴协调运动中的各种交叉耦合控制器的设计,从控制的角度进行了全面的分析与综合,提出了有待解决的若干问题,对未来的发展方向进行了展望。
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| 关 键 词： | 多轴协调运动 轮廓误差 交叉耦合控制 |
| 文章编号： | 1001-3997(2006)10-0166-03 |
| 收稿时间： | 2006-02-09 |
| 修稿时间： | 2006-02-09 |
Cross-coupling control in multi-axis coordinated motion |
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| CONG Shuang,LIU Yi. Cross-coupling control in multi-axis coordinated motion[J]. Machinery Design & Manufacture, 2006, 0(10): 166-168 |
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| Authors: | CONG Shuang LIU Yi |
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| Affiliation: | Dept. of Automation, University of Science and Technology of China, Hefei 230027, China |
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| Abstract: | Contour error is taken as the target of control directly.Coupling elements are introduced into each axis in multi-axis motion.Contouring accuracy is improved by enhance the coordination of each axis,not only by using single axis decoupling control to improve the tracking accuracy of each axis.In this paper,all types of cross-coupling control approaches are analyzed and synthesized widely from the point of view of control.Several problems to be settled are presented and some expectations are made on the future direction in this area. |
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| Keywords: | Multi-axis coordinated motion Contour error Cross-coupling control |
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