网络化运动控制系统多轴协同关键技术研究
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摘要
运动控制是现代机电设备的重要支柱,多个运动轴之间高精度协同运动是实现复杂的设备功能、提高产品质量的关键。随着现代化设备向高速度、高精度方向飞速发展,对运动控制提出了更高的要求。运动控制网络的应用,为多轴运动控制系统带来了巨大便利,同时为多轴之间实现高速度、高精度协同运动带来了新的挑战。
为了应对这种挑战,本文针对提高网络化运动控制系统多轴协同运动精度的相关问题展开研究:
首先,网络延时对运动控制系统的性能具有重要影响,研究网络延时对控制系统的作用特点是解决多轴同步问题的基础。
通过对网络延时产生机理及其特点的分析,提出一种基于统计规律的网络延时模型,将网络延时划分为延时期望τ_D和延时抖动τ_J,两部分,其中τ_D对应网络延时的数学期望,而将τ_J,视为0均值的有界随机干扰。
从传递函数的角度,分析控制通道网络延时对控制信号的影响,进而将网络与控制对象结合在一起,建立了任意延时情况下二者的离散时间模型,为分析网络延时对控制系统的影响提供了理论依据。
针对运动控制网络的通信延时普遍小于一个控制周期的情况,基于网络延时统计模型的相关定义,建立了一种新的离散时间模型,证明网络延时的存在使得对象离散状态方程的实际输入变为u(k)、u(k-1)和u(k-1)-u(k)三项组合的形式,系数矩阵分别为B~0,B~1和ΔB,其中B~0,B~1的值与τ_D相关,视为已知量;ΔB的值与τ_J相关,为未知量,与u(k-1)-u(k)一起视为干扰处理。该模型为通过网络延时补偿和干扰抑制措施提高网络化运动控制系统性能提供了理论依据。
针对多轴运动控制系统对同步性能的要求,对网络化控制系统的多节点同步方式进行研究,对节点驱动方式、信号采样方式以及反馈通道延时等问题进行讨论,建立了网络化多轴运动控制系统闭环控制的增广状态方程,为控制系统的分析和综合提供了基础。
其次,网络节点之间的同步精度对于提高多轴协同运动精度至关重要,采用网络延时补偿是提高节点同步精度的有效措施。
网络化运动控制系统中,运动控制器与各执行器节点、传感器节点之间精密时间同步是实现多轴协同运动的基础。根据τ_D和τ_J的不同特点,提出了一种新的方法:通过对τ_D实旌补偿以进一步提高网络节点同步精度,而将τ_J的影响视为干扰,通过干扰抑制措施予以克服。
针对以上目的,基于遗传算法设计了网络延时辨识器,为大于一个周期的网络延迟时间提供了在线辨识方法,仿真实验证明该延时辨识器具有非常高的辨识精度。对网络延时的精密测量方法进行探讨,基于数理统计的相关理论对延时测量数据进行处理,为延时补偿的实施提供了基础。
对网络延时补偿的方法进行了研究,提出了基于定时器的延时补偿策略。通过延时补偿,控制器节点到各执行器和传感器节点的网络延时将具有相同的数学期望τ_D,从而进一步提高节点之间的同步精度,并简化运动控制模型。
网络延时抖动τ_J无法精确获得,在对象离散模型中将抖动对系统造成的影响视为附加干扰,基于灰色系统理论设计了灰色辨识器,对该干扰项进行辨识。仿真实验证明,基于灰色辨识器的估计结果,采用补偿控制可以对该干扰项实现良好的抑制。
为了确保网络化多轴运动控制系统中反馈报文的延时满足建模条件,设计了一个RBF神经网络预估器,对反馈通道上超过规定时间期限的信息进行预估,将延迟时间不确定的反馈信息转变为时间确定、误差有界的估计信息,确保反馈报文延时在设定的时间范围内。仿真实验证明该预估器具有良好的预估精度和多步预估能力。
再次,网络化运动控制系统中,多轴协同运动精度不但决定于运动控制网络节点之间的同步精度,还与电机驱动装置、运动执行机构的动态特性以及各轴之间的参数匹配状况密切相关,因此,还需要从控制算法的角度对多轴协同运动控制进行深入研究。
提高单轴驱动系统的跟随精度可以间接提高多轴协同运动精度,针对这一目标,提出了一种用于交流伺服系统的自适应模糊控制算法,结合模糊控制的优点和自适应控制的学习能力,具有较强的抗参数摄动和抗扰动能力,仿真证明该算法具有较好的跟随精度。
耦合控制是提高多轴系统同步运动精度、改善系统抗扰能力的有效控制方法。针对多轴耦合控制,提出了一种基于虚拟参考轴的同步控制算法,采用滑模控制理论设计了多轴耦合控制器,实现多轴速度和位置耦合控制。对控制算法的收敛性和稳定性进行了严密的数学证明,采用仿真实验验证了该控制算法的有效性。
在数控系统中,交叉耦合控制算法可以有效地提高轮廓加工精度,但是复杂曲线的轮廓误差估计十分困难,严重制约了交叉耦合控制的应用。针对现代数控系统的输出特点,提出了一种新的空间轮廓误差估计算法,采用数控插补器输出的“刀位点”计算轮廓误差矢量,不需要被加工曲线的数学模型,计算精度稳定,适用于任何空间曲线。
基于上述轮廓误差估计模型,设计了一个由轮廓闭环控制和位置闭环控制构成的“双闭环”控制系统,对伺服系统中每个单轴的位置以及合成运动的轮廓同时实施闭环控制,有效地提高了多轴位置协同运动精度。仿真实验证明,该控制器在不改变单轴伺服系统位置跟随精度的情况下,可以明显地提高轮廓精度,尤其在各伺服轴参数失配较大的情况下,对轮廓精度的改善十分明显。
最后,伺服系统的响应速度对于改善多轴系统的动态协同性能意义重大,直接转矩控制(DTC)可以显著提高电机的转矩响应速度和动态性能,但是存在转矩脉动较大的问题。本文基于永磁同步电机电磁转矩与转矩角之间的函数关系,提出了一种新的直接转矩控制算法,将转矩误差直接映射为三相电压源逆变器功率开关的导通时间,实现任意电压空间矢量的输出,从而产生圆形的定子磁链矢量轨迹,达到减小转矩脉动、提高转矩输出精度的目的。该算法计算简单,避免了传统DTC和SVM(空间矢量调制)控制中复杂的扇区判别和逻辑运算。仿真实验证明该算法可以达到优于±0.5%的转矩纹波。
由于转矩-转矩角之间的映射是一种非线性关系,这种非线性特征使得参数固定的普通转矩调节器不能在整个转矩工作范围内获得稳定一致的控制精度,因此基于RBF神经网络设计了一个参数自整定PI转矩调节器。仿真结果表明,当电机输出转矩在0～T_(emax)范围内变化时,使用该调节器可以获得比较稳定的转矩控制精度。
Motion control(MC)is an important pillar of modern electro-mechanical equipments.The coordinated motion(CM)for multi-axis is the key elements for equipments to implement complicate functions and to improve product quality.With the rapid progress of the modern equipments in the direction of super-speed and high-accuracy,firmer requirements are proposed for motion control systems(MCS).The wide application of networked motion control systems(NMCS)not only brings great convenience for multi-axis MCS,but also puts forward challenges for CM with high speed and high precision.
To deal with the challenges NMCS faced,this thesis focuses its goal on the relative problems for multi-axis NMCS to improve its CM precision.
Firstly,since network time delay(NTD)has great influence on the performance of NMCS,researching on its action characteristics of NTD to control systems is the basis to solve multi-axis synchronization problems.
Based on the analysis of NTD arising mechanism and its characteristics, a NTD model is presented with statistics principle,which divided the NTD into two parts of delay time expectationτ_D and delay time jitterτ_J.Whereτ_D is the mathematics expectation of NTD andτ_J is considered as bounded stochastic disturbance with zero mean value.
From the perspective of transfer function,the influence of NTD on control signal is analyzed,and by combining together networks with control target,the discrete time mathematical model between them is built on the condition of time delay randomly,which provided a theoretical basis to analyze the influence of NTD on control systems.
Aiming at the instance that the communication delay is less than a control cycle of motion control network,based on the relative definition about network delay statistics model,a new discrete time model is presented,which proved that the being of network delay changes the discrete state equation's real inputs into three items combination of u(k),u(k-1)and u(k-1)-u(k), and the coefficient matrices are B~0,B~1 and△B respectively.Where the value of B~0,B~1 is correlated withτ_D and can be considered as known parameters;△B is correlated withτ_J and is an unknown parameter,and can be processed with u(k-1)-u(k)simultaneously as disturbance.The model provides a theoretical basis to improve the performance of NMCS by compensation of network delay and interference suppression.
Aiming at the synchronized performance of multi-axis NMCS,the multi-node synchronization mode of NCSs is studied and the node driven mode,signal sampling mode and time delay of feedback channel are discussed. The extended state equation for closed loop multi-axis NMCS is presented, which built a foundation for analysis and synthesis of the control systems.
Secondly,the network nodes synchronized precision plays an important role in the improving of multi-axis synchronized motion accuracy,and it is an effective way to improve node synchronization precision by network time delay compensation.
In NMCS,precise time synchronization among motion controller node, actuator nodes and sensor nodes is the basis for multi-axis synchronization. According to the different characteristics ofτ_D andτ_J,a new method is proposed.The synchronization precision of network nodes is further improved by compensation ofτ_D,while considers the influence ofτ_J as a disturbance and eliminates it by disturbance suppression.
According to the objective above mentioned,a network delay identifier is designed based on genetic algorithm,which presents an online identification method for networks with time delay greater than one cycle,and the simulation experiments demonstrated that the identifier provides very high identification precision.The network time delay precise measurement is studied,the measurement data of time delay is processed based on the correlative theory of mathematical statistic,which provided a basis for the implementation of time delay compensation.
Through researching of the network time delay compensation method,a compensation strategy based on timer is presented.By the method of delay compensation,the network delay from controller node to actuators and sensor nodes will have the same mathematic expectationτ_D and it will improve the synchronization precision further and simplify the motion control model.
The network time delay jitterτ_J cannot be obtained precisely.In the object discrete model,the influence of jitter on control systems is considered as an attached disturbance,and a grey estimator is worked out based on grey system theory,which is used to identify the disturbance item.The simulation result proved that the disturbance item can be restrained very well by compensation control based on the identified results of the grey estimator.
In order to ensure the satisfaction of modeling condition of the feedback message's delay in networked multi-axis control systems,a RBF neural network predictor is designed.The information in feedback channels that exceed the scheduled time deadline is predicted and the feedback information with uncertain time delay are changed into estimated information with determined time and bounded error by the predictor,to ensure the delay of feedback messages in their setting time range.The simulation showed that the predictor had favorable prediction precision and multi-step prediction ability.
Furthermore,in networked motion control systems,the multi-axis coordinated motion precision are not only determined by the time synchronization precision of each network node but also closely related to the dynamic characteristics of motor driven device and motion executing mechanism and the parameters matching status among axis.Therefore,the multi-axis synchronized motion control need to be further studied on the side of control algorithms.
The improvement of tracking accuracy for single-axis driven system can improve the coordinated motion accuracy for multi-axis indirectly.According to the purpose,a self-adaptive fuzzy control algorithm for AC servo system is proposed,which combines with the merits of fuzzy control and the study ability of self-adaptive control system,and has strong ability of withstanding parameter perturbation and restraining disturbance.Simulation results demonstrated that the algorithm gives a good tracking precision.
Coupling control is an effective control method for improving multi-axis systems' coordinated motion precision and disturbances rejection ability. Aiming at the multi-axis coupling control,a novel coordinated control algorithms based on virtual reference axis is presented.A multi-axis coupling controller with sliding model control theory is designed to achieve multi-axis velocity and position coupling control.The algorithm's convergence and stability is justified rigorously with mathematics,and the simulation results show the effectiveness of the control algorithm.
In computer numerical control(CNC)systems,the cross-coupled control algorithm can improve the contour accuracy effectively.But it is very difficult to estimate the contour errors of complex curves and that restricted the application of cross-coupled control algorithm seriously.According to the output characteristics of modern CNC,a new space contour error algorithm is established,which uses the "cutter locations" outputted by interpolator of numerical controller to computing the contour error vectors and no mathematical model of the machined curve is needed.The calculating precision of the model is stable and it can be applied to any space curve.
Based on the contour errors calculating model above mentioned,a double closed loops controller consisted of contour loop and position loop is designed, to implement the closed loop control for each single axis' position and their synthetic motion contour of servo system,which improved the multi-axis position coordinated precision efficiently.The simulation results show that the controller can improve contour accuracy obviously in the condition of unchanging the single-axis servo system's position tracking precision, especially for the parameters of servo axles are relative large mismatched,the proposed controller can improve contour precision significantly.
At last,the response rate of servo systems has great importance in improving the dynamic synchronized performance for multi-axis system,and direct torque control(DTC)can improve motor's torque response rate and dynamic performance greatly,but it has the shortcoming of greater torque ripple.This thesis presented a new DTC algorithm based on the function relationship between the electromagnetic torque and torque angle of permanent magnet synchronous motor(PMSM).The torque error is directly mapped into the conduction time of the power switches of three-phase voltage source inverter to achieve arbitrary space voltage vector output by the proposed algorithm,and a perfect circular track of stator flux linkage vector can be generated,therefore it can reach the target of reducing torque ripple and improving torque output precision.The method is simple in computation and can avoid complicated sector discrimination and logical calculation in traditional DTC and SVM(Space Vector Modulation)control methods.The algorithm can achieve less than±0.5%torque ripple by the simulation results.
Because the map between the torque and torque angle takes the relationship as nonlinear,which makes the normal torque controller with fixed parameters cannot give stable and uniform control precision in the full torque working range.Therefore,a parameter self-tuning PI torque controller is designed based on RBF neural networks.The simulation results indicated that the controller can keep lower torque ripple in the full torque output range of a PMSM,and a high torque control precision can be achieved as the output torque varies between 0～T_(emax).
为了应对这种挑战,本文针对提高网络化运动控制系统多轴协同运动精度的相关问题展开研究:
首先,网络延时对运动控制系统的性能具有重要影响,研究网络延时对控制系统的作用特点是解决多轴同步问题的基础。
通过对网络延时产生机理及其特点的分析,提出一种基于统计规律的网络延时模型,将网络延时划分为延时期望τ_D和延时抖动τ_J,两部分,其中τ_D对应网络延时的数学期望,而将τ_J,视为0均值的有界随机干扰。
从传递函数的角度,分析控制通道网络延时对控制信号的影响,进而将网络与控制对象结合在一起,建立了任意延时情况下二者的离散时间模型,为分析网络延时对控制系统的影响提供了理论依据。
针对运动控制网络的通信延时普遍小于一个控制周期的情况,基于网络延时统计模型的相关定义,建立了一种新的离散时间模型,证明网络延时的存在使得对象离散状态方程的实际输入变为u(k)、u(k-1)和u(k-1)-u(k)三项组合的形式,系数矩阵分别为B~0,B~1和ΔB,其中B~0,B~1的值与τ_D相关,视为已知量;ΔB的值与τ_J相关,为未知量,与u(k-1)-u(k)一起视为干扰处理。该模型为通过网络延时补偿和干扰抑制措施提高网络化运动控制系统性能提供了理论依据。
针对多轴运动控制系统对同步性能的要求,对网络化控制系统的多节点同步方式进行研究,对节点驱动方式、信号采样方式以及反馈通道延时等问题进行讨论,建立了网络化多轴运动控制系统闭环控制的增广状态方程,为控制系统的分析和综合提供了基础。
其次,网络节点之间的同步精度对于提高多轴协同运动精度至关重要,采用网络延时补偿是提高节点同步精度的有效措施。
网络化运动控制系统中,运动控制器与各执行器节点、传感器节点之间精密时间同步是实现多轴协同运动的基础。根据τ_D和τ_J的不同特点,提出了一种新的方法:通过对τ_D实旌补偿以进一步提高网络节点同步精度,而将τ_J的影响视为干扰,通过干扰抑制措施予以克服。
针对以上目的,基于遗传算法设计了网络延时辨识器,为大于一个周期的网络延迟时间提供了在线辨识方法,仿真实验证明该延时辨识器具有非常高的辨识精度。对网络延时的精密测量方法进行探讨,基于数理统计的相关理论对延时测量数据进行处理,为延时补偿的实施提供了基础。
对网络延时补偿的方法进行了研究,提出了基于定时器的延时补偿策略。通过延时补偿,控制器节点到各执行器和传感器节点的网络延时将具有相同的数学期望τ_D,从而进一步提高节点之间的同步精度,并简化运动控制模型。
网络延时抖动τ_J无法精确获得,在对象离散模型中将抖动对系统造成的影响视为附加干扰,基于灰色系统理论设计了灰色辨识器,对该干扰项进行辨识。仿真实验证明,基于灰色辨识器的估计结果,采用补偿控制可以对该干扰项实现良好的抑制。
为了确保网络化多轴运动控制系统中反馈报文的延时满足建模条件,设计了一个RBF神经网络预估器,对反馈通道上超过规定时间期限的信息进行预估,将延迟时间不确定的反馈信息转变为时间确定、误差有界的估计信息,确保反馈报文延时在设定的时间范围内。仿真实验证明该预估器具有良好的预估精度和多步预估能力。
再次,网络化运动控制系统中,多轴协同运动精度不但决定于运动控制网络节点之间的同步精度,还与电机驱动装置、运动执行机构的动态特性以及各轴之间的参数匹配状况密切相关,因此,还需要从控制算法的角度对多轴协同运动控制进行深入研究。
提高单轴驱动系统的跟随精度可以间接提高多轴协同运动精度,针对这一目标,提出了一种用于交流伺服系统的自适应模糊控制算法,结合模糊控制的优点和自适应控制的学习能力,具有较强的抗参数摄动和抗扰动能力,仿真证明该算法具有较好的跟随精度。
耦合控制是提高多轴系统同步运动精度、改善系统抗扰能力的有效控制方法。针对多轴耦合控制,提出了一种基于虚拟参考轴的同步控制算法,采用滑模控制理论设计了多轴耦合控制器,实现多轴速度和位置耦合控制。对控制算法的收敛性和稳定性进行了严密的数学证明,采用仿真实验验证了该控制算法的有效性。
在数控系统中,交叉耦合控制算法可以有效地提高轮廓加工精度,但是复杂曲线的轮廓误差估计十分困难,严重制约了交叉耦合控制的应用。针对现代数控系统的输出特点,提出了一种新的空间轮廓误差估计算法,采用数控插补器输出的“刀位点”计算轮廓误差矢量,不需要被加工曲线的数学模型,计算精度稳定,适用于任何空间曲线。
基于上述轮廓误差估计模型,设计了一个由轮廓闭环控制和位置闭环控制构成的“双闭环”控制系统,对伺服系统中每个单轴的位置以及合成运动的轮廓同时实施闭环控制,有效地提高了多轴位置协同运动精度。仿真实验证明,该控制器在不改变单轴伺服系统位置跟随精度的情况下,可以明显地提高轮廓精度,尤其在各伺服轴参数失配较大的情况下,对轮廓精度的改善十分明显。
最后,伺服系统的响应速度对于改善多轴系统的动态协同性能意义重大,直接转矩控制(DTC)可以显著提高电机的转矩响应速度和动态性能,但是存在转矩脉动较大的问题。本文基于永磁同步电机电磁转矩与转矩角之间的函数关系,提出了一种新的直接转矩控制算法,将转矩误差直接映射为三相电压源逆变器功率开关的导通时间,实现任意电压空间矢量的输出,从而产生圆形的定子磁链矢量轨迹,达到减小转矩脉动、提高转矩输出精度的目的。该算法计算简单,避免了传统DTC和SVM(空间矢量调制)控制中复杂的扇区判别和逻辑运算。仿真实验证明该算法可以达到优于±0.5%的转矩纹波。
由于转矩-转矩角之间的映射是一种非线性关系,这种非线性特征使得参数固定的普通转矩调节器不能在整个转矩工作范围内获得稳定一致的控制精度,因此基于RBF神经网络设计了一个参数自整定PI转矩调节器。仿真结果表明,当电机输出转矩在0～T_(emax)范围内变化时,使用该调节器可以获得比较稳定的转矩控制精度。
Motion control(MC)is an important pillar of modern electro-mechanical equipments.The coordinated motion(CM)for multi-axis is the key elements for equipments to implement complicate functions and to improve product quality.With the rapid progress of the modern equipments in the direction of super-speed and high-accuracy,firmer requirements are proposed for motion control systems(MCS).The wide application of networked motion control systems(NMCS)not only brings great convenience for multi-axis MCS,but also puts forward challenges for CM with high speed and high precision.
To deal with the challenges NMCS faced,this thesis focuses its goal on the relative problems for multi-axis NMCS to improve its CM precision.
Firstly,since network time delay(NTD)has great influence on the performance of NMCS,researching on its action characteristics of NTD to control systems is the basis to solve multi-axis synchronization problems.
Based on the analysis of NTD arising mechanism and its characteristics, a NTD model is presented with statistics principle,which divided the NTD into two parts of delay time expectationτ_D and delay time jitterτ_J.Whereτ_D is the mathematics expectation of NTD andτ_J is considered as bounded stochastic disturbance with zero mean value.
From the perspective of transfer function,the influence of NTD on control signal is analyzed,and by combining together networks with control target,the discrete time mathematical model between them is built on the condition of time delay randomly,which provided a theoretical basis to analyze the influence of NTD on control systems.
Aiming at the instance that the communication delay is less than a control cycle of motion control network,based on the relative definition about network delay statistics model,a new discrete time model is presented,which proved that the being of network delay changes the discrete state equation's real inputs into three items combination of u(k),u(k-1)and u(k-1)-u(k), and the coefficient matrices are B~0,B~1 and△B respectively.Where the value of B~0,B~1 is correlated withτ_D and can be considered as known parameters;△B is correlated withτ_J and is an unknown parameter,and can be processed with u(k-1)-u(k)simultaneously as disturbance.The model provides a theoretical basis to improve the performance of NMCS by compensation of network delay and interference suppression.
Aiming at the synchronized performance of multi-axis NMCS,the multi-node synchronization mode of NCSs is studied and the node driven mode,signal sampling mode and time delay of feedback channel are discussed. The extended state equation for closed loop multi-axis NMCS is presented, which built a foundation for analysis and synthesis of the control systems.
Secondly,the network nodes synchronized precision plays an important role in the improving of multi-axis synchronized motion accuracy,and it is an effective way to improve node synchronization precision by network time delay compensation.
In NMCS,precise time synchronization among motion controller node, actuator nodes and sensor nodes is the basis for multi-axis synchronization. According to the different characteristics ofτ_D andτ_J,a new method is proposed.The synchronization precision of network nodes is further improved by compensation ofτ_D,while considers the influence ofτ_J as a disturbance and eliminates it by disturbance suppression.
According to the objective above mentioned,a network delay identifier is designed based on genetic algorithm,which presents an online identification method for networks with time delay greater than one cycle,and the simulation experiments demonstrated that the identifier provides very high identification precision.The network time delay precise measurement is studied,the measurement data of time delay is processed based on the correlative theory of mathematical statistic,which provided a basis for the implementation of time delay compensation.
Through researching of the network time delay compensation method,a compensation strategy based on timer is presented.By the method of delay compensation,the network delay from controller node to actuators and sensor nodes will have the same mathematic expectationτ_D and it will improve the synchronization precision further and simplify the motion control model.
The network time delay jitterτ_J cannot be obtained precisely.In the object discrete model,the influence of jitter on control systems is considered as an attached disturbance,and a grey estimator is worked out based on grey system theory,which is used to identify the disturbance item.The simulation result proved that the disturbance item can be restrained very well by compensation control based on the identified results of the grey estimator.
In order to ensure the satisfaction of modeling condition of the feedback message's delay in networked multi-axis control systems,a RBF neural network predictor is designed.The information in feedback channels that exceed the scheduled time deadline is predicted and the feedback information with uncertain time delay are changed into estimated information with determined time and bounded error by the predictor,to ensure the delay of feedback messages in their setting time range.The simulation showed that the predictor had favorable prediction precision and multi-step prediction ability.
Furthermore,in networked motion control systems,the multi-axis coordinated motion precision are not only determined by the time synchronization precision of each network node but also closely related to the dynamic characteristics of motor driven device and motion executing mechanism and the parameters matching status among axis.Therefore,the multi-axis synchronized motion control need to be further studied on the side of control algorithms.
The improvement of tracking accuracy for single-axis driven system can improve the coordinated motion accuracy for multi-axis indirectly.According to the purpose,a self-adaptive fuzzy control algorithm for AC servo system is proposed,which combines with the merits of fuzzy control and the study ability of self-adaptive control system,and has strong ability of withstanding parameter perturbation and restraining disturbance.Simulation results demonstrated that the algorithm gives a good tracking precision.
Coupling control is an effective control method for improving multi-axis systems' coordinated motion precision and disturbances rejection ability. Aiming at the multi-axis coupling control,a novel coordinated control algorithms based on virtual reference axis is presented.A multi-axis coupling controller with sliding model control theory is designed to achieve multi-axis velocity and position coupling control.The algorithm's convergence and stability is justified rigorously with mathematics,and the simulation results show the effectiveness of the control algorithm.
In computer numerical control(CNC)systems,the cross-coupled control algorithm can improve the contour accuracy effectively.But it is very difficult to estimate the contour errors of complex curves and that restricted the application of cross-coupled control algorithm seriously.According to the output characteristics of modern CNC,a new space contour error algorithm is established,which uses the "cutter locations" outputted by interpolator of numerical controller to computing the contour error vectors and no mathematical model of the machined curve is needed.The calculating precision of the model is stable and it can be applied to any space curve.
Based on the contour errors calculating model above mentioned,a double closed loops controller consisted of contour loop and position loop is designed, to implement the closed loop control for each single axis' position and their synthetic motion contour of servo system,which improved the multi-axis position coordinated precision efficiently.The simulation results show that the controller can improve contour accuracy obviously in the condition of unchanging the single-axis servo system's position tracking precision, especially for the parameters of servo axles are relative large mismatched,the proposed controller can improve contour precision significantly.
At last,the response rate of servo systems has great importance in improving the dynamic synchronized performance for multi-axis system,and direct torque control(DTC)can improve motor's torque response rate and dynamic performance greatly,but it has the shortcoming of greater torque ripple.This thesis presented a new DTC algorithm based on the function relationship between the electromagnetic torque and torque angle of permanent magnet synchronous motor(PMSM).The torque error is directly mapped into the conduction time of the power switches of three-phase voltage source inverter to achieve arbitrary space voltage vector output by the proposed algorithm,and a perfect circular track of stator flux linkage vector can be generated,therefore it can reach the target of reducing torque ripple and improving torque output precision.The method is simple in computation and can avoid complicated sector discrimination and logical calculation in traditional DTC and SVM(Space Vector Modulation)control methods.The algorithm can achieve less than±0.5%torque ripple by the simulation results.
Because the map between the torque and torque angle takes the relationship as nonlinear,which makes the normal torque controller with fixed parameters cannot give stable and uniform control precision in the full torque working range.Therefore,a parameter self-tuning PI torque controller is designed based on RBF neural networks.The simulation results indicated that the controller can keep lower torque ripple in the full torque output range of a PMSM,and a high torque control precision can be achieved as the output torque varies between 0～T_(emax).
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