摘要
为减小多电机运动过程中的同步误差,提出了基于广义预测控制的两轴同步控制算法,其基本思想是在二次性能指标中加入同步误差的影响,使得该性能指标对单轴的跟踪误差、控制增量以及两轴之间的同步误差同时进行有限时段内的在线滚动优化,所得到的控制规律包含了两轴之间的交叉耦合作用,克服了单个电机受到扰动时两轴不能精确同步的问题,且该算法对系统的建模精度要求较低,在线滚动优化对负载扰动、随机噪声有很好的抑制作用。Matlab仿真实验结果表明,该控制算法能获得良好的单轴跟踪精度、两轴同步精度以及抗干扰能力。
To eliminate the synchronization error of multi-axis motion, an algorithm of biaxial synchronization based on generalized predictive control was advanced. The key point was to add the influence of synchronization error to the quadratic performance index. The tracking error, control input and synchronization error were optimized in the limited time field on-line. Control law was included cross coupling between the two axles and the discrepancy was overcome when one was disturbed. Besides, lower model accuracy was required and effectively load disturbance was restrained. The experiment results in Matlab demonstrate the algorithm can acquire good tracking, accuracy synchronization accaracy and a strong anti-disturbance ability.
出处
《机电工程》
CAS
2010年第3期107-110,116,共5页
Journal of Mechanical & Electrical Engineering
关键词
凝胶渗透色谱仪
交叉耦合
同步
二次性能指标
gel permeation chromatograph（GPC）
cross coupling
synchronization
quadratic performance index
