CN102854840A - Direct-driven XY table profile control method based on predictive control and cross coupling - Google Patents
Direct-driven XY table profile control method based on predictive control and cross coupling Download PDFInfo
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- CN102854840A CN102854840A CN2012103592187A CN201210359218A CN102854840A CN 102854840 A CN102854840 A CN 102854840A CN 2012103592187 A CN2012103592187 A CN 2012103592187A CN 201210359218 A CN201210359218 A CN 201210359218A CN 102854840 A CN102854840 A CN 102854840A
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Abstract
The invention provides a direct-driven XY table profile control method based on predictive control and cross coupling, and belongs to the technical field of automatic control. The device comprises a signal collector, a position setter, a predicating controller, a cross coupling controller and a driving device, wherein the cross coupling controller comprises a profile error estimating device and a profile error compensating device. The direct-driven XY table profile control device and method based on predictive control and cross coupling are provided by the invention according to the characteristics of a direct-driven XY platform; the predicating controller is adopted to control a single shaft, so that the tracking error in the system can be reduced, and the precision in positioning of double shafts can be indirectly improved; and the cross coupling controller is adopted on the dual-shaft for decoupling, so that the profile error of the system can be directly compensated, and the precision in processing can be improved.
Description
Technical field
The invention belongs to the automatic control technology field, be specifically related to a kind of based on PREDICTIVE CONTROL and the cross-linked XY platform contours control method of directly driving.
Background technology
Numeric Control Technology is the grand strategy material of the modernization of national defense, is the important basic industry that is related to the national strategy status and embodies national overall national strength level.Greatly developing advanced manufacturing industry take Numeric Control Technology as core has become majority state and accelerates economic development, improves the overall national strength and the important channel of statehood.High-speed, high precision, it is the important research direction of present Numeric Control Technology that synchro control and multiaxis are coordinated control.In the process of numerically-controlled machine, require numerical control machining center (CNC) to finish predefined task along predetermined reference locus, this forms of motion is called the motion of profile tracking.At present, in this profile TCS of day by day paying attention to high-speed, high precision, XY position locating platform is representational numerical control device.
Now, XY position of platform positioning system is widely used in industrial manufacturing industry, and the purpose of design of XY position of platform positioning system is exactly for site error being reduced to minimum, and controlled device stably can be driven on the position of appointment.The application of current position positioning system is very extensive, such as positioning system of CNC mechanical processing and positioning system and semiconductor manufacturing facility etc.Because now more and more higher to the positioning accuracy request of location positioning system, millimeter (mm) grade from the past rises to micron (μ m) grade even nano-scale, therefore, along with the raising of positioning accuracy request, the design of location positioning system is also more and more difficult.
The precision that improves positioning system is not a simple task, must be in conjunction with the precision of mechanical structure system itself, and will mutually combine with the selection of sensor parts and control method etc. and just can finish.Need to the controller of XY biaxial movement mechanical platform be designed, select suitable control method to guarantee Systems balanth, and according to the requirement of actual conditions, strengthen the tracking performance to position and speed.Thereby, the needed bearing accuracy of the system that reaches.At present, the PID (proportional-integral-differential) that extensively adopts in linear electric motors is although controller can improve the control accuracy of motor to a certain extent, yet, along with on the industrial expansion to the day by day raising of accuracy requirement, PID is difficult to satisfy its requirement, in addition owing to there is the shortcomings such as hysteresis, poor robustness, also exist the coupling of diaxon in the XY platform, this has more strengthened the difficulty of control.
Summary of the invention
Defective for the prior art existence, the purpose of this invention is to provide a kind of based on PREDICTIVE CONTROL and the cross-linked XY platform contours control method of directly driving, PREDICTIVE CONTROL and cross-couplings are combined, improve tracking performance and the stability of motor by PREDICTIVE CONTROL, improve the matching degree of diaxon by cross-couplings, reduce the coupling of between centers, thereby reach the purpose that improves contour accuracy.
Technical scheme of the present invention is achieved in that a kind of based on PREDICTIVE CONTROL and the cross-linked XY platform contours control device that directly drives, and comprising:
Signal picker: the device that is used for voltage signal, current signal and the position signalling of collection linear electric motors.
Position setter: be used for according to wanting the processing object shape to set X-axis, the initial position of y-axis motor and the device of running orbit.
Predictive controller: be used for set-point and the first two position output valve constantly according to the position setter, predict the position of next moment linear electric motors and the device of required motor input value.
Cross-coupling controller: be used for the estimation according to the profile errors that the diaxon coupling is produced, come the device that diaxon is compensated.
Driver: be used for receiving the output signal of predictive controller and cross-coupling controller, control the device of the position of X-axis or Y-axis according to this output signal.
Described cross-coupling controller comprises:
The profile errors estimator: being used for being differentiated by the settings of position setter transmission obtains rate signal, comes the device that XY platform contours error is estimated according to the speed input signal of motor and tracking error
Profile errors compensator: be used for trying to achieve the profile errors offset according to profile errors, multiply by the gain post-compensation to the device of XY diaxon.
Employing, may further comprise the steps directly driving the method for XY platform control based on PREDICTIVE CONTROL and the cross-linked XY platform contours control device that directly drives:
Step 1: carry out trajectory planning according to the shape of wanting processing object, determine the initial set-point of X-axis and Y-axis;
Step 2: to XY shaft position sampling, and compare with the set-point of X-axis and Y-axis position, obtain position deviation;
Step 3: adopt predictive controller that the single shaft position is controlled, adjust the single shaft position of X-axis, Y-axis; The employing cross-coupling controller is estimated the profile errors of X-axis and Y-axis and is compensated, and will export as the position of X-axis and Y-axis through the output signal after predictive controller and the cross-coupling controller adjustment, and concrete grammar is:
Step 3-1: gather nearly 2 moment motor position signals;
Step 3-2: in the motor position signal and the given signal input prediction of motor position controller with step 3-1 collection, disturb the error that produces to compensate to single shaft, realize the single shaft position of X-axis or Y-axis is adjusted;
Predictive controller, for the run location of next moment X-axis of estimation or Y-axis, the design process of described predictive controller is:
Step 3-2-1: because PREDICTIVE CONTROL is moved, first Transmission function of motor is expressed as discrete form under discrete conditions:
(1)
In the formula,
Be the prediction estimated value of k motor position constantly,
,
Be front 2 positional values of motors constantly of k,
,
Be front 2 constantly outputs of predictive controller of k, and initial
,
,
,
With
For
,
,
With
Parameter;
Step 3-2-2: ask the one-step prediction estimated value of motor position according to the expression formula of motor discrete form, formula is:
In the formula,
Be the prediction estimated value of k+1 moment motor position,
,
Be the positional value of the k moment and k-1 moment motor, the estimated values of motor position being carried out the prediction of 2 steps are:
In the formula,
Be the prediction estimated value of k+2 moment motor position,
Be k-2 the constantly output of predictive controller;
Step 3-2-3: adopt predicted value optimization criterion function that the prediction estimated value of the motor position of predictive controller output is optimized;
Described predicted value optimization criterion function, formula is as follows:
In the formula, the motor position signal that w (k+1), w (k+2) expression k+1 is constantly, k+2 is constantly given,
Be weight, work as weight
The operation meeting of motor is more stable during increase, but tracking performance can variation; Be the optimal control value of output when J gets minimum value, can make the position tracking performance of motor and stability reach best;
The motor position prediction estimated value of calculating among the step 3-2-2 is updated to the accurate formula of optimization (4), obtains following formula:
In the formula,
Ask when J gets minimum value
With
, namely
,
, when so just having tried to achieve the J minimum value
With
, the motor position prediction estimated value after the optimization
, formula is:
(6)
Step 3-3: the motor position signal that step 3-1 collects is differentiated, obtain the motor travelling speed;
Step 3-4: the travelling speed of motor is input to cross-coupling controller, tries to achieve the profile errors offset;
Step 3-5: the profile errors offset is compensated in the output of above-mentioned predictive controller, the value after the compensation is as the input value of driver;
Step 4: X-axis, Y-axis electric current are sampled
Step 5: respectively current value is carried out the three phase static coordinate to the conversion of two cordic phase rotators;
Step 6: utilize and hand over the axle calculating torque, and obtain torque deviation;
Step 7: carry out phase current regulation according to torque deviation
Step 8: the predictive controller output current value is carried out two cordic phase rotators to the three phase static transformation of coordinates;
Step 9: the current value that obtains with conversion obtains pwm signal as carrier wave and carried-based PWM;
Step 10:PWM signal controlling power electronic devices is opened to turn-off and is realized electric machine phase current control, and then the XY platform is carried out the control of profile tracking.
Beneficial effect: the present invention is according to the characteristics of directly driving the XY platform, proposition is based on PREDICTIVE CONTROL and cross-linked XY platform contours Working control device and the method for directly driving, in the control of single shaft, the use predictive controller reduces the tracking error in the system, indirectly improves the bearing accuracy of twin shaft; Use cross-coupling controller to carry out decoupling zero at twin shaft, the profile errors of direct compensation system improves machining precision.
Description of drawings
Fig. 1 is the apparatus structure block diagram of one embodiment of the present invention;
Fig. 2 is the control principle block diagram that one embodiment of the present invention predictive controller disturbs the error of generation to compensate to single shaft;
Fig. 3 is one embodiment of the present invention XY platform error synoptic diagram;
Fig. 4 is one embodiment of the present invention predictive controller theory diagram;
Fig. 5 is one embodiment of the present invention cross-coupling controller theory diagram;
Fig. 6 is one embodiment of the present invention control circuit block diagram;
Fig. 7 is one embodiment of the present invention dsp processor and part peripheral circuit schematic diagram thereof;
Fig. 8 is the circuit theory diagrams of one embodiment of the present invention static memory U3;
Fig. 9 is the circuit theory diagrams of one embodiment of the present invention static memory U4;
Figure 10 is the annexation figure of one embodiment of the present invention address extension mouth P3;
Figure 11 is the circuit theory diagrams of one embodiment of the present invention U17;
Figure 12 is the circuit theory diagrams of one embodiment of the present invention P5;
Figure 13 is the circuit theory diagrams of the outer enlarging P2 of one embodiment of the present invention simulation;
Figure 14 is the circuit theory diagrams that one embodiment of the present invention extends out I/O mouth P1;
Figure 15 is the circuit theory diagrams of one embodiment of the present invention control mouthful P4;
Figure 16 is the peripheral crystal oscillating circuit schematic diagram of one embodiment of the present invention DSP;
Figure 17 is one embodiment of the present invention U19, U16, U10, U14, U8, U1 and peripheral circuit schematic diagram;
Figure 18 is one embodiment of the present invention voltage module TPS73HD318 and peripheral circuit schematic diagram thereof;
Figure 19 one embodiment of the present invention RS232 and peripheral circuit schematic diagram;
Figure 20 one embodiment of the present invention U7 and peripheral circuit schematic diagram thereof;
Figure 21 one embodiment of the present invention XY contour outline control method process flow diagram;
Predictive controller and cross-coupling controller prediction process flow diagram among Figure 22 the present invention;
Design of Predictive process flow diagram among Figure 23 the present invention.
Embodiment
Below in conjunction with accompanying drawing embodiments of the present invention are described further.
The structured flowchart of present embodiment comprises as shown in Figure 1: signal picker 1, position setter 2, predictive controller 3,
Present embodiment is take the XY platform servo as experimental facilities, and motor driver is set in torsion mode, utilizes first the ssystem transfer function between input command of system identification acquisition and the outgoing position.Take this transport function as foundation, external disturbance and inner uncertain impact are considered as system interference, in single shaft, with predictive controller the error of disturbing generation is compensated, and by PREDICTIVE CONTROL raising response speed, as shown in Figure 2, wherein, MPC is predictive controller, CCC is cross-coupling controller
With
Be the expression formula of X-axis and y-axis motor,
With
Be the Position input of X-axis and Y-axis,
With
Be the position output of X-axis and Y-axis,
With
Be the disturbance of outside to diaxon.
Cross-coupling controller is adopted in profile errors control, wherein the XY platform error by estimation and the compensation to profile errors, further reduces the profile errors of system as shown in Figure 3, the position bearing accuracy of raising system satisfies the high precision processing request that directly drives the XY platform.Circular arc among the figure is the reference locus of system, and P is the physical location of controlled system,
Be its reference position, because all can there be late effect in system on twin shaft, therefore can produce tracking error, among the figure
Arrive
Distance
Just be defined as the tracking error of system, wherein
Be its component in X-direction,
Be its component in Y-axis.In addition disturbance, the coupling between the XY twin shaft also is the principal element that causes XY position of platform error, it is presented as the profile errors of system, in figure
Shown in, for the ease of calculating, can use
Coming equivalent is profile errors, with letter
Expression, wherein
Be its component on X-axis,
Be its component in Y-axis.
By the controller part of predictive controller (MPC) and cross-coupling controller (CCC) component devices, wherein the schematic diagram of predictive controller as shown in Figure 4, wherein y and u are output quantity and the input quantity of controlled device; W and
Be given input and the reference locus after the input filter softening;
For surveying interference in the outside.The cross-coupling controller principle is at first estimated profile errors as shown in Figure 5, respectively the site error of X-axis and Y-axis is compensated parameter by the profile errors compensation afterwards
With
Be the gain of compensation, obtain by debugging.
The controller of present embodiment partly leaves in as shown in Figure 5 the control circuit, the core of this circuit is the TMS320LF2407 processor, adopt the LF2407 evaluation board, the main interface of EVM plate comprise traget ROM, analog interface, CAN interface, serial boot ROM, user lamp and switch, RS232 interface, SPI data-interface, expansion interface, power supply crystal oscillator, jtag interface, 128K word length without postpone static memory, simulation extends out interface, width modulation extends out interface.
The connection layout of LF2407 evaluation board and peripheral circuit as shown in Figure 6, the data bus of TMS320LF2407 (127 pins among Fig. 7,130 pins, 132 pins, 134 pins, 136 pins, 138 pins, 143 pins, 5 pins, 9 pins, 13 pins, 15 pins, 17 pins, 20 pins, 22 pins, 24 pins, 27 pins) connect respectively static memory U3 and U4 (7 pins, 8 pins, 9 pins, 10 pins, 13 pins, 14 pins, 15 pins, 16 pins, 29 pins, 30 pins, 31 pins, 32 pins, 35 pins, 36 pins, 37 pins, 38 pins) enlarging P3 (1 pin and outside the address, 2 pins, 3 pins, 4 pins, 5 pins, 6 pins, 7 pins, 8 pins, 9 pins, 10 pins, 11 pins, 12 pins, 13 pins, 14 pins, 15 pins, 16 pins).The address bus of TMS320LF2407 (80 pins, 78 pins, 74 pins, 71 pins, 68 pins, 64 pins, 61 pins, 57 pins, 53 pins, 51 pins, 48 pins, 45 pins, 43 pins, 39 pins, 34 pins, 31 pins) connect respectively static memory U3 and U4 (5 pins, 4 pins, 3 pins, 2 pins, 1 pin, 44 pins, 43 pins, 42 pins, 27 pins, 26 pins, 25 pins, 24 pins, 21 pins, 20 pins, 19 pins, 18 pins) and outer enlarging P3 (19 pins, 20 pins, 21 pins, 22 pins, 23 pins, 24 pins, 25 pins, 26 pins, 27 pins, 28 pins, 29 pins, 30 pins, 31 pins, 32 pins, 33 pins, 34 pins), such as Fig. 8, Fig. 9 and shown in Figure 10.The read-write enable pin of TMS320LF2407 (93 pins, 89 pins) meets respectively U3 and U4 (17 pins and 41 pins).The program space strobe pin 87 of TMS320LF2407 connects 6 pins of U3 and U4.(19 pins, 89 pins, 96 pins, 92 pins, 82 pins, 84 pins, 87 pins) of TMS320LF2407 meet respectively U17 (4 pins, 5 pins, 6 pins, 7 pins, 8 pins, 9 pins, 11 pins), as shown in figure 11.(90 pins, 91 pins, 135 pins, 139 pins, 142 pins, 144 pins) of TMS320LF2407 meet respectively the P5 (13 pins, 14 pins, 9 pins and 11 pins, 3 pins, 7 pins, 1 pin) in the jtag circuit, as shown in figure 12.Digital-to-analog conversion pin (112 pins of TMS320LF2407,110 pins, 107 pins, 105 pins, 103 pins, 102 pins, 100 pins, 99 pins, 113 pins, 111 pins, 109 pins, 108 pins, 106 pins, 104 pins, 101 pins, 98 pins, 56 pins, 54 pins, 52 pins, 47 pins, 44 pins, 40 pins, 16 pins, 18 pins, 8 pins, 65 pins, 62 pins, 59 pins, 55 pins, 46 pins, 38 pins, 6 pins) connect respectively outer enlarging P2 (23 pins of simulation, 24 pins, 5 pins, 6 pins, 7 pins, 8 pins, 9 pins, 10 pins, 11 pins, 12 pins, 13 pins, 14 pins, 15 pins, 16 pins, 19 pins, 20 pins), as shown in figure 13.(3 pins, 4 pins, 5 pins, 6 pins, 7 pins, 8 pins, 12 pins, 13 pins, 14 pins, 9 pins, 10 pins, 11 pins) of P1, (25 pins, 26 pins, 27 pins, 29 pins) of P4, (83 pins, 79 pins, 88 pins, 81 pins) of TMS320LF2407 connect P1 (21 pins, 22 pins, 24 pins) and P4(20 pin), figure is shown in 14,15 and 16.1 pin of the external 15M crystal oscillator of the 123 pins U22 of TMS320LF2407.The analog references power supply of TMS320LF2407 (116 pins, 117 pins) connects (4 pins and 11 pins) of U19, such as Figure 17.The digital reference power supply of TMS320LF2407 (29 pins, 50 pins, 86 pins, 129 pins, 4 pins, 42 pins, 67 pins, 77 pins, 95 pins, 141 pins) meets 3.3V voltage module U12 (17 pins, 18 pins and 19 pins).TMS320LF2407 (28 pins, 49 pins, 85 pins, 128 pins, 3 pins, 41 pins, 66 pins, 76 pins, 94 pins, 125 pins, 140 pins) connect digitally (9 pins of U12 and 10 pins).Such as Figure 18.(25 pins, 19 pins, 26 pins) of TMS320LF2407 meet (11 pins, 10 pins) and the JP12DE (2 pin) of RS232 interface U21, as shown in figure 19.(72 pins, 70 pins) of TMS320LF2407 connect (1 pin) of U17 and (2 pin) of JP2, as shown in figure 20.
A kind of method of controlling directly driving the XY platform of present embodiment, as shown in figure 21.This flow process starts from step 2101.In step 2102, carry out trajectory planning according to the shape of wanting processing object, determine the initial set-point of X-axis and Y-axis.
In step 2103, to XY shaft position sampling, and compare with the set-point of X-axis and Y-axis position, obtain position deviation.
In step 2104, adopt predictive controller that the single shaft position is controlled, adjust the single shaft position of X-axis, Y-axis; The employing cross-coupling controller is estimated the profile of X-axis and Y-axis and is compensated, and will export as the position of X-axis and Y-axis through the output signal after predictive controller and the cross-coupling controller adjustment, and concrete grammar as shown in figure 22.This flow process starts from step 2201.In step 2202, gather nearly 2 moment motor position signals.
In step 2203, in the motor position signal and the given signal input prediction of motor position controller with step 2202 collection, disturb the error that produces to compensate to single shaft, realize the single shaft position of X-axis or Y-axis is adjusted.
Predictive controller is used for next run location of X-axis or Y-axis constantly of estimation, the design process of described predictive controller as shown in figure 23, this flow process starts from step 2301.In step 2302, because PREDICTIVE CONTROL is moved, first Transmission function of motor is expressed as discrete form under discrete conditions, the process of specifically pushing over is as follows:
The position transfer function expression formula of linear electric motors is:
In the formula,
Be controller output,
Be the position output of motor, d is time delay, and is general
, polynomial expression A and B are given as:
Wherein,
With
Be respectively the exponent number of polynomial expression A and B.
Next come the output of motor is predicted that according to formula (7), motor exists according to the transport function of motor
Constantly be output as:
According to principle of equivalence, replace d, A, B originally with estimated value and get:
Wherein ^ represents to estimate that formula (9) can be write as again:
Wherein,
, therefore when i=1, have:
(11)
Because formula (9) is estimated value, therefore can not replace actual output with it, outside disturbing factor can make actual output and estimate and produce difference between the output, and its improvement method is as follows:
The right in the formula (11) is contained
Take the equation left side to, formula (9) can be expressed as so:
Introduce afterwards Diophantine equation:
With
(13)
Formula (12) be multiply by
After:
Calculate with its alternate form (10)
, available formula (14) is directly calculated and is tried to achieve
, eliminate the error between actual value and the estimated value, therefore use
In the replacement formula (14)
,
On the other hand, formula (13) both sides be multiply by simultaneously
:
With in the formula (15)
Substitution formula (14) can obtain following forecast value revision model:
In the formula (17)
Do not replace fully
, therefore,
Depend on motor self, if without system model error or interference input, then
Equal zero, so formula (17) predicting the outcome for formula (1) the i step.
Formula (17) is launched, and the result is as follows:
In the formula,
Be the prediction estimated value of k motor position constantly,
,
Be front 2 positional values of motors constantly of k,
,
Be front 2 constantly outputs of predictive controller of k, and initial
,
,
,
With
For
,
,
With
Parameter;
In step 2303, ask the prediction estimated value of motor position according to the expression formula of motor discrete form, formula is:
In the formula,
Be the prediction estimated value of k+1 moment motor position,
,
Be the positional value of the k moment and k-1 moment motor, the results that formula (1) prediction two is gone on foot are:
Bring formula (2) into above-mentioned formula:
In the formula,
Be the prediction estimated value of k+2 moment motor position,
Be k-2 the constantly output of predictive controller;
Bringing formula (2) into formula (3) gets:
In step 2304, adopt predicted value optimization criterion function that the prediction estimated value of the motor position of predictive controller output is optimized;
Described predicted value optimization criterion function, formula is as follows:
In the formula, the motor position signal that w (k+1), w (k+2) expression k+1 is constantly, k+2 is constantly given,
Be weight, work as weight
The operation meeting of motor is more stable during increase, but tracking performance can variation; Be the optimal control value of output when J gets minimum value, can make the position tracking performance of motor and stability reach best;
The motor position prediction estimated value of calculating in the step 2303 is updated to the accurate formula of optimization (4), formula (2) and (18) are brought in the formula (4),
(19)
In the formula,
, and:
(20)
Wherein
, bring formula (19) and formula (20) into formula (4):
In the formula,
；
If J is minimized, then must ask its differential to make its value is 0, because the Optimality Criteria function has two variablees, therefore will make respectively differential to these two variablees and process, at first right
Making differential and making it is 0:
Right afterwards
Differentiate and be 0 and get:
That is:
Formula (22) and formula (24) are got with matrix representation:
Have Cramer's rule to obtain:
Single shaft linear electric motors predictive controller expression formula is suc as formula shown in (26), no matter the reference input form how, this controller all can make output tend towards stability, and reaches minimum tracking error and controlled quentity controlled variable.
In step 2305, finish.
In step 2204, the motor position signal that step 2202 collects is differentiated, obtain the motor travelling speed.Error to motor is estimated, although PREDICTIVE CONTROL can obviously reduce the tracking error of motor, but this error still can exist, give motor with different speed (value in the 0-1m/s), try to achieve the position tracking error of motor under the friction speed, and fitting to speed-graph of errors as the estimation of error function, the speed that estimation of error detects during just according to motor movement is come motor is carried out estimation of error.
In step 2205, the travelling speed of motor is input to cross-coupling controller, try to achieve the profile errors offset.The design of cross-coupling controller at first will be considered the tracking error of motor, as can be seen from Figure 3, and the profile errors of system
Therefore, profile errors is at the component of X-axis and Y-axis
With
Can be expressed as
,
With instantaneous tangent line angle
Function:
In order to make system more near given path, so, except the tracking error of diaxon is also wanted extra compensation vector
Pass through tuning parameter
With
, make it reach the Optimal Control effect, namely can make profile errors reach the parameter of minimum value, extra compensation vector is passed through parameter
With
Be the offset of motor input, make composite vector level off to given reference path.
In step 2206, the profile errors offset is compensated in the output of above-mentioned predictive controller, the value after the compensation is as the input value of driver;
Finish in step 2207.
In step 2105, X-axis, Y-axis electric current are sampled.
In step 2106, respectively current value is carried out the three phase static coordinate to the conversion of two cordic phase rotators.
In step 2107, utilize and hand over the axle calculating torque, and obtain torque deviation.
In step 2108, carry out phase current regulation according to torque deviation.
In step 2109, the predictive controller output current value is carried out two cordic phase rotators to the three phase static transformation of coordinates.
In step 2110, the current value that obtains with conversion obtains pwm signal as carrier wave and carried-based PWM.
In step 2111, pwm signal control power electronic devices is opened to turn-off and is realized electric machine phase current control, and then the XY platform is carried out the control of profile tracking.
In step 2112, finish.
Although more than described the specific embodiment of the present invention, the one skilled in the art should be appreciated that these only illustrate, and can make various changes or modifications to these embodiments, and not deviate from principle of the present invention and essence.Scope of the present invention is only limited by appended claims.
Claims (2)
1. one kind based on PREDICTIVE CONTROL and the cross-linked XY platform contours control device that directly drives, and it is characterized in that: comprising:
Signal picker (1): the device that is used for voltage signal, current signal and the position signalling of collection linear electric motors;
Position setter (2): be used for according to wanting the processing object shape to set X-axis, the initial position of y-axis motor and the device of running orbit;
Predictive controller (3): be used for set-point and the first two position output valve constantly according to the position setter, predict the position of next moment linear electric motors and the device of required motor input value;
Cross-coupling controller (4): be used for the estimation according to the profile errors that the diaxon coupling is produced, come the device that diaxon is compensated;
Driver (5): be used for receiving the output signal of predictive controller and cross-coupling controller, control the device of the position of X-axis or Y-axis according to this output signal;
Described cross-coupling controller comprises:
Profile errors estimator (4-1): being used for being differentiated by the settings of position setter transmission obtains rate signal, comes the device that XY platform contours error is estimated according to the speed input signal of motor and tracking error;
Profile errors compensator (4-2): be used for trying to achieve the profile errors offset according to profile errors, multiply by the gain post-compensation to the device of XY diaxon.
2. adopt claimed in claim 1 based on PREDICTIVE CONTROL and the cross-linked XY platform contours control device that directly drives to directly driving the method for XY platform control, it is characterized in that: may further comprise the steps:
Step 1: carry out trajectory planning according to the shape of wanting processing object, determine the initial set-point of X-axis and Y-axis;
Step 2: to XY shaft position sampling, and compare with the set-point of X-axis and Y-axis position, obtain position deviation;
Step 3: adopt predictive controller that the single shaft position is controlled, adjust the single shaft position of X-axis, Y-axis; The employing cross-coupling controller is estimated the profile errors of X-axis and Y-axis and is compensated, and will export as the position of X-axis and Y-axis through the output signal after predictive controller and the cross-coupling controller adjustment, and concrete grammar is:
Step 3-1: gather nearly 2 moment motor position signals;
Step 3-2: in the motor position signal and the given signal input prediction of motor position controller with step 3-1 collection, disturb the error that produces to compensate to single shaft, realize the single shaft position of X-axis or Y-axis is adjusted;
Predictive controller, for the run location of next moment X-axis of estimation or Y-axis, the design process of described predictive controller is:
Step 3-2-1: because PREDICTIVE CONTROL is moved, first Transmission function of motor is expressed as discrete form under discrete conditions:
(1)
In the formula,
Be the prediction estimated value of k motor position constantly,
,
Be front 2 positional values of motors constantly of k,
,
Be front 2 constantly outputs of predictive controller of k, and initial
,
,
,
With
For
,
,
With
Parameter;
Step 3-2-2: ask the one-step prediction estimated value of motor position according to the expression formula of motor discrete form, formula is:
In the formula,
Be the prediction estimated value of k+1 moment motor position,
,
Be the positional value of the k moment and k-1 moment motor, the estimated values of motor position being carried out the prediction of 2 steps are:
In the formula,
Be the prediction estimated value of k+2 moment motor position,
Be k-2 the constantly output of predictive controller;
Step 3-2-3: adopt predicted value optimization criterion function that the prediction estimated value of the motor position of predictive controller output is optimized;
Described predicted value optimization criterion function, formula is as follows:
(4)
In the formula, the motor position signal that w (k+1), w (k+2) expression k+1 is constantly, k+2 is constantly given,
Be weight, work as weight
The operation meeting of motor is more stable during increase, but tracking performance can variation; Be the optimal control value of output when J gets minimum value, can make the position tracking performance of motor and stability reach best;
The motor position prediction estimated value of calculating among the step 3-2-2 is updated to the accurate formula of optimization (4), obtains following formula:
In the formula,
Ask when J gets minimum value
With
, namely
,
, when so just having tried to achieve the J minimum value
With
, the motor position prediction estimated value after the optimization
, formula is:
(6)
Step 3-3: the motor position signal that step 3-1 collects is differentiated, obtain the motor travelling speed;
Step 3-4: the travelling speed of motor is input to cross-coupling controller, tries to achieve the profile errors offset;
Step 3-5: the profile errors offset is compensated in the output of above-mentioned predictive controller, the value after the compensation is as the input value of driver;
Step 4: X-axis, Y-axis electric current are sampled
Step 5: respectively current value is carried out the three phase static coordinate to the conversion of two cordic phase rotators;
Step 6: utilize and hand over the axle calculating torque, and obtain torque deviation;
Step 7: carry out phase current regulation according to torque deviation
Step 8: the predictive controller output current value is carried out two cordic phase rotators to the three phase static transformation of coordinates;
Step 9: the current value that obtains with conversion obtains pwm signal as carrier wave and carried-based PWM;
Step 10:PWM signal controlling power electronic devices is opened to turn-off and is realized electric machine phase current control, and then the XY platform is carried out the control of profile tracking.
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