基于模糊扰动补偿的直接驱动XY平台轮廓控制

为了削弱永磁直线同步电机XY平台轮廓误差模型相对复杂、系统未知干扰多以及参数不确定对轮廓加工精度的影响,实现XY平台的高精度轮廓控制,在单轴控制器上设计了基于模糊控制方法及干扰观测器技术的模糊扰动补偿器,同时采用了适用于多轴非线性轮廓控制的实时轮廓误差算法,建立可用于自由曲线跟踪的XY平台实时轮廓误差模型.基于模糊扰动补偿器的控制系统能够较好地抑制外部扰动,同时有效地提高轮廓精度.仿真结果表明,所设计的控制系统具有较强的抗扰性和较高的轮廓精度.

Contour control for direct drive XY table based on fuzzy disturbance compensation

In order to weaken the influence of relatively complex contour error model, many unknown system disturbances and parameter uncertainty in the XY table of permanent magnet linear synchronous motors （PMLSM） on the contour machining accuracy and to realize the high precision contour tracking control of XY table, a fuzzy disturbance compensator （FLDC） based on both fuzzy control method and disturbance observer （DOB） technology was designed on a single axis controller. Meanwhile, a real time contour error algorithm suitable for multi axis nonlinear contour control was adopted, and the real time XY table contour error model used for free curve tracking was established. The control system based on the fuzzy disturbance compensator can better suppress the external disturbance, and effectively improve the contour precision. The simulated results show that the proposed control system has stronger anti interference and higher contour precision.