摘要
在许多加工应用中,通常需在有限行程中作连续的周期运动,所以要考虑对周期性轨迹的跟踪和对周期性扰动的抑制。为此,文章针对双直线电动机的周期运动特性,在考虑跟踪性能和稳定性的基础上,采用主从控制和重复控制相结合的策略保证两电动机同步运动并且补偿了周期性误差。仿真结果表明,所提出的控制方案是十分有效的,既保证了双直线电动机的同步运动,又显著地减小了系统的跟踪误差,从而达到快速跟踪和稳定的目的。
In many machining applications, generally the continuous periodic motion is needed in the limited range. Therefore the tracking performance to the periodic path and the suppression ability to periodic disturbance should be considered. For this, in the paper, for the periodic motion characteristic of the dual linear motor, on the base of considering the tracking performance and the stability, the master/slave control and the repetitive control are adopted to compensate for the periodic error, so that dual linear motor can keep exactly synchronous motion. The simulation results show that the proposed control scheme is effective, not only ensures the synchronous motion for dual linear motor, but also reduces the tracking error, thus the goal of fast tracking and stability is achieved.
出处
《组合机床与自动化加工技术》
北大核心
2009年第3期45-48,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学青年基金(50805098)
关键词
直线电动机
主从控制
重复控制器
同步控制
linear motor
master/slave control
repetitive controller
synchronous control
