自动化与信息工程2024，Vol.45Issue(3)：16-21,44,7.DOI:10.3969/j.issn.1674-2605.2024.03.003
基于虚拟质心的GSLQR最优控制和力前馈解耦控制算法
GSLQR Optimal Control and Force Feedforward Decoupling Control Algorithm Based on Virtual Centroid
摘要
Abstract
In response to the problem of synchronization errors affecting machining accuracy caused by uneven load on the gantry synchronous dual drive(GSD)platform,current research has mostly ignored the cross-coupling effect between the dual drive shafts,or the impact of changes in the position of heavy loads on the gantry crossbeam on synchronization errors.To solve this problem,first,quantify the cross-coupling force between the dual drive motors by defining the virtual center of mass of the gantry crossbeam;Then,design a GSLQR optimal control and force feedforward decoupling control algorithm based on virtual centroid;Finally,conduct simulation experiments.The simulation experiment results show that the maximum synchronization error of the algorithm is reduced by about 70%and 60%compared to the GSLQR optimal control algorithm and thrust allocation algorithm,respectively,improving the synchronization and motion performance of the GSD platform.关键词
龙门同步双驱平台/龙门同步线性二次调节器/最优控制/力前馈解耦控制/虚拟质心/重负载Key words
gantry synchronous dual drive platform/gantry synchronous linear quadratic regulator/optimal control/force feedforward decoupling control/virtual centroid/heavy load分类
信息技术与安全科学引用本文复制引用
谢翰君,王钦若..基于虚拟质心的GSLQR最优控制和力前馈解耦控制算法[J].自动化与信息工程,2024,45(3):16-21,44,7.基金项目
沧州市重大科技成果转化专项项目(161001002D) （161001002D）
