中国机械工程2011，Vol.22Issue(9)：1030-1034,5.
基于实时位置补偿交叉耦合控制与重复控制的直接驱动XY平台系统设计
Contour Control for Direct Drive XY Table Based on Real-time Position Compensation and Repetitive Control
摘要
Abstract
The contour accuracy of a direct drive XY table driven by the PMLSM was influenced by end effect and friction of the XY table for time-varying free-form contour following task. To enhance the contouring performance, a contour error algorithm applicable for multi- axis nonlinear motion system was adopted. PEC and a cross-coupled controller were combined to make the contour error approach to zero. A compound control scheme based on combining RC and a PDFF speed controller were employed herein. Theoretical analyses and simulation results show that the designed control system makes XY table possess high performance of contour accuracy, and reduce the influences of the periodic disturbances of XY table system.关键词
直接驱动XY平台/永磁直线同步电动机/实时位置补偿器/重复控制器/伪微分前馈控制器Key words
direct drive XY table/ permanent- magnet linear synchronous motor(PMLSM)/ real- time position error compensator(PEC) / repetitive controller(RC) / pseudo derivative feedback with feed-forward ( PDFF )分类
信息技术与安全科学引用本文复制引用
王丽梅,李兵..基于实时位置补偿交叉耦合控制与重复控制的直接驱动XY平台系统设计[J].中国机械工程,2011,22(9):1030-1034,5.基金项目
辽宁省自然科学基金资助项目(20102165) （20102165）
