工程设计学报2018，Vol.25Issue(1)：62-70,78,10.DOI:10.3785/j.issn.1006-754X.2018.01.009
基于前馈控制的高速大行程圆弧滑轨位置控制
Position control of high-speed large-stroke circular slide based on feedforward control
摘要
Abstract
In the process of the operation of the high-speed large-stroke circular slide system,the circular orbit curve and the rail paragraphs connection issue causes series of questions,like the operation process of load truck is unstable,the response rate is not fast,and the positioning error of the terminal position is large,and so on.A set of double-track mechanical sliding structure was designed,w hich could effectively improve the stability of the truck.As the aspect of the control system,the position loop adopted feedforward control,to improve the accuracy of motor control system combined with PID control.The mathematical model of the circular slide platform was es-tablished,a simulation model based on feedforward control in MATLAB simulation environment was established,and the experimental platform was built according to the simulation model.The results of the simulation experiment showed that,without feedforward control,the range of tracking error was [-0.4 0.4]mm,and the range of tracking error was [-0.18 0.18]mm after the introduction of feedforward control.It could be calculated and concluded that after the intro-duction of feedforward control,the tracking accuracy of the system was increased by 1.2 times and the response rate of the system was increased by 16.7%.It was shown that under the condi-tion of feedforward control the theoretical position error of the truck could maintain at [0.2 0.2] mm by the experimental results and the actual position error of the truck was 0.69 mm.Both er-rors were less than 1 mm which was the design required,and the system had a fast response speed.The research results provide effective reference data for the mechanical design scheme and performance testing process of the sliding rail system.At the same time,the results will promote the industrial automation of the rail system test.关键词
高速大行程圆弧滑轨/机械模型/位置控制/前馈控制/位置误差Key words
high-speed large-stroke circular slide/mechanical model/position control/feedfor-w ard control/position error分类
信息技术与安全科学引用本文复制引用
解家顺,郭彦青,姚竹亭,王超超..基于前馈控制的高速大行程圆弧滑轨位置控制[J].工程设计学报,2018,25(1):62-70,78,10.基金项目
山西省青年科技研究基金资助项目(2015021123) （2015021123）
山西省重点实验室开放基金资助项目(XJZZ201605) （XJZZ201605）
