CN104977901B - Triaxial movement platform modified cross-coupling control device and method - Google Patents

Triaxial movement platform modified cross-coupling control device and method Download PDF

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CN104977901B
CN104977901B CN201510404800.4A CN201510404800A CN104977901B CN 104977901 B CN104977901 B CN 104977901B CN 201510404800 A CN201510404800 A CN 201510404800A CN 104977901 B CN104977901 B CN 104977901B
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CN104977901A (en
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王丽梅
蔺威威
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Shenyang University of Technology
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    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
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Abstract

A kind of triaxial movement platform modified cross-coupling control device and method, it is characterised in that:The device includes main circuit, control circuit and the part of control object three;Main circuit includes AC voltage adjusting module, rectification filtering module and IPM inversion modules;The present invention uses a kind of profile errors estimation algorithm in three axles coordinate control, sets up three axle profile errors models, improves the structure of cross-coupling control, design three-dimensional figure error controller.

Description

Triaxial movement platform modified cross-coupling control device and method
Technical field:The present invention provides a kind of triaxial movement platform modified cross-coupling control device and method, belongs to Fields of numeric control technique.
Background technology:In modern digital-control processing system, the control of two axle XY platform contours can not meet people to complicated member The processing request of part, therefore triaxial movement platform profile control technology is introduced, to realize the precision to space three-dimensional parts profile Processing.Triaxial movement platform is directly driven by permanent magnetic linear synchronous motor, it is to avoid the intermediate transmission ring of " ball+leading screw " Section, improves the processing efficiency of system.
The content of the invention:
Goal of the invention:The present invention provides a kind of triaxial movement platform modified cross-coupling control device and method, its mesh Be to solve conventional mode to do the problem of existing.
Technical scheme:The present invention is achieved by the following technical solutions:
A kind of triaxial movement platform modified cross-coupling control device, it is characterised in that:The device includes main circuit, control Circuit processed and the part of control object three;Main circuit includes AC voltage adjusting module, rectification filtering module and IPM inversion modules;Control Circuit includes DSP Processor, current sampling circuit, rotor position sample circuit, voltage-regulating circuit, IPM isolated drive circuits With IPM protection circuits;Control object is three-phase permanent linear synchronous generator, and fuselage is equipped with grating scale;Current sampling circuit, mover Position sample circuit, voltage-regulating circuit, IPM isolated drive circuits and IPM protection circuits are connected with DSP Processor, IPM every It is connected from drive circuit and IPM protection circuits with IPM inversion modules, current sampling circuit is connected to three-phase by Hall sensor Permanent magnet linear synchronous motor, voltage-regulating circuit connection AC voltage adjusting module, AC voltage adjusting module connection rectification filtering module is whole Filtration module connection IPM inversion modules are flowed, IPM inversion modules connection three-phase permanent linear synchronous generator, three-phase permanent straight line is same Grating scale on step motor is connected with rotor position sample circuit.
The triaxial movement platform modified implemented using above-mentioned triaxial movement platform modified cross-coupling control device Cross-coupling control method, it is characterised in that:This method uses a kind of profile errors estimation algorithm, to set up triaxial movement platform Profile errors model, and uniaxiality tracking control is combined with three axle cross-coupling controls, improve conventional cross-couplings control Structure processed, so as to ensure that system uniaxiality tracking precision and contour accuracy level off to zero.
Uniaxiality tracking is controlled, and uniaxiality tracking control uses position-speed ring double circle controling mode, uniaxiality tracking control System design.
Speed ring uses the Pseudo-derivative- feedback controller with feedforward, i.e. PDFF controllers, and its control algolithm is expressed as:
Wherein kfFor feedforward compensation gain, kiFor storage gain, kpFor proportional gain;Speed ring control input vd(s) it is and real Border output speed function va(s) relation between is:
Disturbance input ξ (s) and reality output velocity function va(s) relation between is:
Controlled device uses permanent magnetic linear synchronous motor, and its transmission function is
Wherein, G0(s)=1/ (Ms+B) is actual controlled device, KfFor electromagnetic push coefficient.
Position ring adoption rate controller, coefficient is kx, therefore the transmission function of whole uniaxiality tracking control system can table It is shown as:
By setting fixed disturbance ξ, it is able to verify that system has stronger antijamming capability and very fast responding ability.
The step of this method, is as follows:
The present invention includes step in detail below:
Step 1:Set up triaxial movement platform profile errors model:
It is the synchronous electricity of permanent-magnet linear by permanent magnetic linear synchronous motor perpendicular to each other (PMLSM) that triaxial movement platform, which is used, Mechanical equation formula is:
In formula, Fe:Electromagnetic push;M:The load-carrying gross mass of mover and mover institute of permanent-magnetism linear motor;iqFor mover q Shaft current;Kf:Electromagnetic push coefficient;B:Viscous friction coefficient;F:Total perturbed force suffered by system.V is mover speed;It is Sub- acceleration;
Choose x (t) and v (t) rewritable is for system state variables, i.e. PMLSM state equation
Wherein, v (t) is electric mover speed;U=iqRepresent the control input amount of motor;X (t) is then linear electric motors Position is exported.
Therefore, direct drive triaxial movement platform can be made up of three 2 rank differential equations:
The form for being expressed as state space is:
Wherein, z1(t)=[x1(t) x2(t) x3(t)]T,U=[u1 u2 u3 ]T, ρ=[F1 F2 F3]T, A11=0, A12=I, A21=0, A22=diag (- Bi/Mi), i=x, y, z are 3 × 3 matrixes;
Step 2:Triaxial movement platform profile errors model is set up:
In triaxial movement platform, the precision of profile errors model estimation directly affects profile control performance.Assuming that three axles In motion platformFor command position, P is physical location, and position error vector isProfile errors vector isR0、R1For life 2 points on position are made, R is designated as respectively0(x0,y0,z0), R1(x1,y1,z1);Q points are command position vectorOn a bit, sit Labeled as Q (x, y, z).Point P to point R1Distance be position error vectorThe form for being expressed as relationship is:
VectorFor
By R0、R1It is with this 3 points release command position linear equations of Q:
Assuming that physical location P is to command positionBeeline for vectorTherefore it is vectorialFor
VectorWith vectorIt is mutually perpendicular to, inner product is zero;I.e.Obtain parameter t and be updated to equation (12) coordinate Q can be obtained after, coordinate Q can further obtain profile errors value after obtaining, finally release profile errorsFor
Profile errors are understood by formula (14)In the component of x-axis, y-axis and z-axis;
Step 3:The design of Compensator of profile errors
In order to reduce profile errors, it is desirable to which physical location P can be to command position vectorAmendment, except correction position is missed Difference vectorIn each axis component Ex, Ey, EzOutside, profile errors vector need to be compensated in additionTherefore, vector is chosenIt is used as reality Position is to profile errors between command positionCompensation, compensation rate number depend on λ size.Therefore,It is used as whole system The compensation rate of system, the compensation relationship formula of physical location to desired locations is:
By formula (15), true location point P can have both been compensated to expectation location point R1Tracking error, two can be compensated again Profile errors between point, make it level off to command position.And then obtain whole compensation rateIn the component of each axle:
Composite vector may be such that by formula (16)Level off to command position path, wherein λ is cross-couplings yield value, shadow Ring the erection rate of profile errors.By composite vectorGeometrical relationship understand λ value it is bigger,More order path is inclined to, is corrected Profile errors vectorAmount will be big;
Step 4:Uniaxiality tracking controller design
In order to ensure the contour accuracy of three axles, uniaxiality tracking control is also essential, uniaxiality tracking control in the present invention The control mode that system is combined using speed ring controller and position ring controller, speed ring controller uses PDFF controlling parties Case, position ring controller kxAdoption rate control mode;
Step 5:Profile control is designed
By the profile errors estimation technique noted earlier, it is known that profile errorsOnly with command positionHave with physical location P Close, belong to the geometrical relationship of position, therefore designed cross-coupling controller is located at the position loop part of control system, changes Conventional cross-coupling control structure is entered.
The input of cross-coupling controller is the given position R of triaxial movement platformx、RyAnd RzWith the tracking error of every axle Ex、EyAnd Ez。ex、eyAnd ezIt is the profile errors component of each axle of cross-coupling controller output.
The final control program by embedded DSP Processor of the inventive method realizes that its control process is held according to the following steps OK:
Step 1 system initialization;
Step 2 allows TN1, TN2 to interrupt;
Step 3 starts T1 underflows and interrupted;
Step 4 routine data is initialized;
Step 5 opens total interruption;
Step 6 interrupt latency;
The sub- control program of step 7 TN1 interrupt processings;
Step 8 terminates.
The sub- control program of T1 interrupt processings is according to the following steps wherein in step 7:
Step 1 T1 interrupts sub- control program;
Step 2 keeps the scene intact;
Step 3 judges whether initial alignment;It is to enter step 4, otherwise into step 10;
Step 4 current sample, CLARK conversion, PARK conversion;
Step 5 judges whether to need position adjustments;Otherwise step 7 is entered;
The sub- control program of step 6 position adjustments interrupt processing;
Step 7 d q shaft currents are adjusted;
Step 8 PARK inverse transformations;
Step 9 calculates CMPPx and PWM outputs;
Sample step 10 position;
Step 11 initial alignment program;
Step 12 restoring scene;
Step 13, which is interrupted, to be returned.
The sub- control program of position adjustments interrupt processing is according to the following steps wherein in step 6:
Step 1 position adjustments interrupt sub- control program;
Step 2 reads encoder values;
Step 3 judges angle;
Step 4 calculates distance;
Step 5 execution position controller;
The order of step 6 calculating current is simultaneously exported;
Step 7, which is interrupted, to be returned.
Advantage and effect:The present invention provides a kind of triaxial movement platform modified cross-coupling control device and method, with The increase that people are required complex components, the control of multiaxial motion platform Precise outline is compared to two in the past representative axles For the control of XY platform contours, the Precise outline motion control research of multiaxial motion platform high-performance contour machining is with important Realistic meaning and wide application prospect.And multiaxial motion platform uses multiple permanent magnetic linear synchronous motor direct drive sides Formula, it is to avoid the intermediate transmission link of " ball+leading screw " so that load only by the direct Thrust of linear electric motors, eliminates biography The problem that system transmission mechanism.The zero clearance transmission from linear electric motors to controlled device is realized, turns into linear electric motors At a high speed, the main type of drive of High-precision servo control system.
For in existing control technology, the problem of existing for the profile control accuracies of complex components, the present invention is in three axles Coordinate to use a kind of profile errors estimation algorithm in control, set up three axle profile errors models, improve the knot of cross-coupling control Structure, designs three-dimensional figure error controller.
Controller designed by the present invention is applied to the digital control platform perpendicular to each other that a linear electric motors drive X-Y-Z axles In.Experimental system is as shown in Figure 2.The position of the platform is connected to the linear encoder of each drive shaft, linear encoder Sensor resolution is 0.1 micron.The speed of each drive shaft by position measurement it is reverse it is poor calculate, this sampling period For 2 milliseconds.
The present invention includes triaxial movement platform profile errors model and set up so that system can complete the profile traces in space Tracing task;Uniaxiality tracking controller design, it is ensured that per axle tracking error in less scope;The design of profile control, The profile errors of reduction system;Profile errors model geometric relation, as shown in Figure 3;Profile errors compensation rate geometrical relationship, such as schemes Shown in 4;Uniaxiality tracking controller design, as shown in Figure 1;Three axle profile controls are designed, as shown in Figure 5.
It is of the invention main using triaxial movement platform as research object, by controlling the overall profile errors of three axles to ensure zero Part machining accuracy.To improve contour machining precision, many scholars are directed to studying various feedforwards, feedback control strategy to improve list Axle tracking accuracy, so as to improve contour motion control accuracy indirectly.Such as feedforward controller, zero phase error tracking control device, PID control, Self Adaptive Control, the method such as robust control can reduce uniaxiality tracking error.But the reduction of uniaxiality tracking error Overall contour accuracy can not be ensured.So it is influence triaxial movement platform system that uniaxiality tracking control coordinates control between centers Two key factors of system contour accuracy.The control method that uniaxiality tracking control is combined using position ring and speed ring, position Ring controls for ratio, and speed ring controls for PDFF, ensure that the faster response speed of single shaft and tracking accuracy.In order to improve axle Between harmony, the control of between centers profile is general to be coordinated using cross-coupling controller (CCC) caused by parameter mismatch Dynamic property difference, reduce system profile errors.For this problem, the present invention uses a kind of profile errors estimation algorithm, Set up the profile errors model of three between centers.And traditional cross-coupling control structure is improved on this basis, devise three axles Cross-coupling controller, by verifying that this method can effectively improve the contour accuracy of three between centers.
Brief description of the drawings:
Fig. 1 uniaxiality tracking control system block diagrams
The experimental system that Fig. 2 designs for the present invention
Fig. 3 is outline of straight line error vector geometrical relationship figure
Fig. 4 is that profile errors compensate geometrical relationship figure
Fig. 5 triaxial movement platform cross-coupling control block diagrams
Fig. 6 is the vector control system for permanent magnet linear synchronous motor hardware configuration hardware block diagram designed by the realization present invention
Fig. 7 is vector control system program flow diagram in the inventive method
Fig. 8 is the sub- control program flow chart of the inventive method position adjustments interrupt processing
Fig. 9 is realization control system schematic diagram of the invention
(a) electric machine control system main circuit schematic diagram
(b) A, B phase current sampling circuit schematic diagram
(c) grating scale signal sample circuit schematic diagram
(d) IPM hardware drivings circuit theory diagrams.
Embodiment:The present invention is described further below in conjunction with the accompanying drawings:
As shown in figure 1, the present invention provides a kind of triaxial movement platform modified cross-coupling control device and method, (one) System hardware structure
Realize that shown in control system main circuit such as Fig. 9 (a) of the present invention, regulating circuit uses reverse voltage regulating module EUV-25A- II, can be achieved 0~220V isolation pressure regulation.Rectification filtering unit uses the uncontrollable rectification of bridge-type, and bulky capacitor filtering coordinates suitably Resistance capaciting absorpting circuit, can obtain the constant DC voltage needed for IPM work.IPM is using company of Fuji 6MBP50RA060 intelligence Power model, pressure-resistant 600V, maximum current 50A, maximum operating frequency 20kHz.IPM is supplied with the 15V driving power supplies of four groups of independence Electricity.Main power source input terminal (P, N), lead-out terminal (U, V, W), main terminal is fixed with the screw carried, and electric current transmission can be achieved. P, N are the main power source input terminal after the rectifying conversion smothing filtering of frequency converter, and P is anode, and N is negative terminal, inverter output Three-phase alternating current is connected to motor by lead-out terminal U, V, W.
The core for controlling circuit of the present invention is TMS320F2812 processors, and it is read-only that its supporting development board includes target Memory, analog interface, eCAN interfaces, serial boot ROM, user lamp, reset circuit, it can be configured to RS232/RS422/ The RS485 outer 256K*16 RAM of asynchronous serial port, SPI synchronous serial interfaces and piece.
Current sample uses LEM companies Hall current sensor LT58-S7 in actual control system.By two Hall currents Sensor detects A, B phase current, obtains current signal, by current sampling circuit, is converted into 0~3.3V voltage signal, most The binary number of 12 precision is converted into by TMS320LF2812 A/D modular converters afterwards, and is stored in numerical register.A、 Shown in the current sampling circuit of B phases such as Fig. 9 (b).Adjustable resistance VR2 Regulate signal amplitudes, the skew of adjustable resistance VR1 Regulate signals Signal, by the regulation to the two resistance, can be adjusted to 0~3.3V, then be sent to DSP AD0, AD1 pin by amount. Voltage-stabiliser tube in figure be in order to prevent send into DSP signal more than 3.3V, cause DSP to be damaged by high pressure.Operational amplifier is used OP27, power supply connects positive and negative 15V voltages, in the indirect decoupling capacitor of voltage and ground.Circuit input end connects capacitor filtering, to remove high frequency Signal is disturbed, and improves sampling precision.
The A phases and B phase pulse signals of grating scale output will be isolated by rapid light coupling 6N137 to signal, Ran Houjing Cross bleeder circuit and signal level be converted into 3.3V by 5V, be eventually connected to DSP two-way quadrature coding pulse interface QEP1 and QEP2.Shown in circuit theory such as Fig. 9 (c).Fig. 9 (d) gives the schematic diagram of six road isolated drive circuits.It is to be noted that IPM error protection signal pins pair are non-duplicate transient faults, are achieved by the following measures in the present system:IPM failure Output signal is by being optically coupled to DSP'sPin, DSP is in time by all events during ensuring that IPM breaks down Manager output pin puts high-impedance state.
(2) system software is realized
Vector control system program flow diagram is as shown in Figure 7 in the inventive method.Fig. 8 is in the inventive method position adjustments The disconnected sub- control program flow chart of processing.The main program of software includes system initialization;Open INT1, INT2 interruption;Allow timer Interrupt;Timer interruption handles subprogram.Wherein initialization program is included at the beginning of closing all interruptions, dsp system initialization, variable Beginningization, task manager initialization, AD initialization and quadrature coding pulse QEP initialization.Interrupt service subroutine includes protection Interruption subroutine and T1 underflow interrupt service subroutines.Other parts such as mover initialization positioning, PID regulations, vector etc. Performed all in timer TI underflow Interrupt Subroutines.
The protection interrupt response that IPM protection signals are produced belongs to external interrupt, and INT1 interrupt priority levels are higher than timer T1. IPM can send protection signal automatically in abnormal conditions such as excessively stream, overvoltages, the converted power drive for being connected to DSP of this signal Protection pinOnce have abnormal conditions, DSP can enter protection interruption subroutine, forbid first it is all in It is disconnected, then block PWM outputs and motor is stalled at once, play a part of protection motor and IPM.
The smooth startup of vector control system, can be to the dynamic of motor using software, it is necessary to know the initial position of mover Son leads to the direct current of a constant amplitude, stator is produced a constant magnetic field, this magnetic field and the stationary magnetic field phase of rotor Interaction, makes electric mover move to the position that two magnetic linkages are overlapped.And mover initial alignment, the reading of AD sampled values, motor The calculating of rotor position, coordinate transform, PID regulations, the generation of SVPWM waveform comparison values are all in T1 underflow interrupt service subroutines It is middle to complete.
Describe in detail as follows:
As shown in fig. 6, the device includes main circuit, control circuit and the part of control object three;Main circuit includes exchange and adjusted Die block, rectification filtering module and IPM inversion modules;Circuit is controlled to include DSP Processor, current sampling circuit, rotor position Sample circuit, voltage-regulating circuit, IPM isolated drive circuits and IPM protection circuits;Control object is three-phase permanent Linear Synchronous Motor, fuselage is equipped with grating scale;Current sampling circuit, rotor position sample circuit, voltage-regulating circuit, IPM isolation drives electricity Road and IPM protection circuits are connected with DSP Processor, and IPM isolated drive circuits and IPM protection circuits connect with IPM inversion modules Connect, current sampling circuit is connected to three-phase permanent linear synchronous generator, voltage-regulating circuit connection exchange by Hall sensor Voltage regulating module, AC voltage adjusting module connection rectification filtering module, rectification filtering module connection IPM inversion modules, IPM inversion modules The grating scale connected on three-phase permanent linear synchronous generator, three-phase permanent linear synchronous generator connects with rotor position sample circuit Connect.
Triaxial movement platform modified cross-coupling control method, this method uses a kind of profile errors estimation algorithm, to build The profile errors model of vertical triaxial movement platform, and uniaxiality tracking control is combined with three axle cross-coupling controls, improve Conventional cross-coupling control structure, so as to ensure that system uniaxiality tracking precision and contour accuracy level off to zero.
Uniaxiality tracking is controlled, the control mode being combined using position ring and speed ring, uniaxiality tracking Control System Design Such as Fig. 1,1/ (Ms+B) is actual controlled device, KfFor electromagnetic push coefficient, xrFor the reference instruction of input, xpFor reality output Position.The control mode that uniaxiality tracking control is combined using position-speed ring, position ring adoption rate control, speed ring is adopted Use PDFF controllers, kxFor position ring proportional gain;K in speed ringfFor feedforward compensation gain, kiFor storage gain, kpFor ratio Gain;ξ is external disturbance, by setting fixed disturbance, is able to verify that system is rung with stronger antijamming capability and comparatively fast Should be able to power.
In traditional contour machining, normally only it is directed to X/Y plane and carries out contour accuracy control, be difficult to extend to three-dimensional space Between, there is significant limitation for actual digital control processing in this.Therefore, using a kind of profile errors estimation algorithm, establish Triaxial movement platform space profiles error model.And according to claim, using improved cross-coupling control method To improve Contour extraction performance, contour accuracy is improved.
The step of this method, is as follows:
The present invention includes step in detail below:
Step 1:Set up triaxial movement platform profile errors model:
It is the synchronous electricity of permanent-magnet linear by permanent magnetic linear synchronous motor perpendicular to each other (PMLSM) that triaxial movement platform, which is used, Mechanical equation formula is:
In formula, Fe:Electromagnetic push;M:The load-carrying gross mass of mover and mover institute of permanent-magnetism linear motor;iqFor mover q Shaft current;Kf:Electromagnetic push coefficient;B:Viscous friction coefficient;F:Total perturbed force suffered by system.V is mover speed;It is Sub- acceleration;
Choose x (t) and v (t) rewritable is for system state variables, i.e. PMLSM state equation
Wherein, v (t) is electric mover speed;U=iqRepresent the control input amount of motor;X (t) is then linear electric motors Position is exported.
Therefore, direct drive triaxial movement platform can be made up of three 2 rank differential equations:
The form for being expressed as state space is:
Wherein, z1(t)=[x1(t) x2(t) x3(t)]T,U=[u1 u2 u3 ]T, ρ=[F1 F2 F3]T, A11=0, A12=I, A21=0, A22=diag (- Bi/Mi), i=x, y, z are 3 × 3 matrixes;
Step 2:Triaxial movement platform profile errors model is set up:
In triaxial movement platform, the precision of profile errors model estimation directly affects profile control performance.Fig. 3 is straight line Profile errors vector geometry graph of a relation.Wherein,For command position, P is physical location, and position error vector isProfile is missed Difference vector isR0、R1For 2 points on command position, R is designated as respectively0(x0,y0,z0), R1(x1,y1,z1);Physical location P is arrived Command position R beeline is vectorThe profile errors of as physical location to reference position are vectorialQ point coordinates is remembered For Q (x, y, z).Point P to point R1Distance be position error vector
By R0、R1It is with this 3 points release command position linear equations of Q:
As shown in Figure 4, it is vectorialWith vectorIt is mutually perpendicular to, inner product is zero;I.e.Obtain parameter t substitutions Coordinate Q can be obtained after to equation (6), coordinate Q can further obtain profile errors value after obtaining, finally release profile errorsFor
Profile errors are understood by formula (6)In the component of x-axis, y-axis and z-axis;
Step 3:The design of Compensator of profile errors
According to Fig. 4, in order to reduce profile errors, it is desirable to which physical location P can be to command position vectorAmendment, except repairing Positive position error vectorIn each axis component Ex, Ey, EzOutside, profile errors vector need to be compensated in additionBy vector geometry addition and subtraction Understand, choose vectorAs physical location to the compensation between command position, it is set to level off to command position.Whole compensation rateIt can be expressed as in the component of each axle:
Composite vector may be such that by formula (7)Level off to command position path, wherein λ is cross-couplings yield value, shadow Ring the erection rate of profile errors.By composite vectorGeometrical relationship understand λ value it is bigger,More order path is inclined to, is corrected Profile errors vectorAmount will be big;
Step 4:Uniaxiality tracking controller design
In order to ensure the contour accuracy of three axles, uniaxiality tracking control is also essential, uniaxiality tracking control in the present invention The control mode that system is combined using speed ring controller and position ring controller, speed ring controller uses PDFF controlling parties Case, position ring controller kxAdoption rate control mode;
Step 5:Profile control is designed
By the profile errors estimation technique noted earlier, it is known that profile errors e only has with command position R and physical location P Close, belong to the geometrical relationship of position, therefore designed cross-coupling controller is located at the position loop part of control system, changes Conventional cross-coupling control structure, structured flowchart such as Fig. 5 are entered.
The input of cross-coupling controller is the given position R of triaxial movement platformx、RyAnd RzWith the tracking error of every axle Ex、EyAnd Ez。ex、eyAnd ezIt is the profile errors component of each axle of cross-coupling controller output.And by institute in the present invention Three axle cross-coupling controller structured flowcharts of design are compared with the structured flowchart used in the past, and profile errors of the invention are mended Repay and just completed before position loop controller.From profile errors compensation rate geometrical relationship, when the control of adjustment position loop Yield value K in device processedpWhen, profile errors compensation rate can be had influence on simultaneouslyIts effect is equal to adjustmentSize, rather than Direction, but direction now is determined by cross-couplings yield value λ size.Therefore KpAdjustment with λ be each it is independent, Respectively size and Orientation.And conventional cross-coupling controller structure is then that compensation rate is placed in after controller, work as adjustment KpWhen, its effect is equal to only to be adjusted in figure 3Size.Therefore, the method proposed in the present invention mends profile errors The amount of repayingDirection and size simultaneously change, add position loop gain K in the structure chartpBetween cross-couplings gain λ Do the matching problem most suitably adjusted.
The input of cross-coupling controller is the given position R of triaxial movement platformx、RyAnd RzWith the tracking error of every axle Ex、EyAnd Ez。ex、eyAnd ezIt is the profile errors component of each axle of cross-coupling controller output.
The final control program by embedded DSP Processor of the inventive method realizes that its control process is held according to the following steps OK:
Step 1 system initialization;
Step 2 allows TN1, TN2 to interrupt;
Step 3 starts T1 underflows and interrupted;
Step 4 routine data is initialized;
Step 5 opens total interruption;
Step 6 interrupt latency;
The sub- control program of step 7 TN1 interrupt processings;
Step 8 terminates.
The sub- control program of T1 interrupt processings is according to the following steps wherein in step 7:
Step 1 T1 interrupts sub- control program;
Step 2 keeps the scene intact;
Step 3 judges whether initial alignment;It is to enter step 4, otherwise into step 10;
Step 4 current sample, CLARK conversion, PARK conversion;
Step 5 judges whether to need position adjustments;Otherwise step 7 is entered;
The sub- control program of step 6 position adjustments interrupt processing;
Step 7 d q shaft currents are adjusted;
Step 8 PARK inverse transformations;
Step 9 calculates CMPPx and PWM outputs;
Sample step 10 position;
Step 11 initial alignment program;
Step 12 restoring scene;
Step 13, which is interrupted, to be returned.
The sub- control program of position adjustments interrupt processing is according to the following steps wherein in step 6:
Step 1 position adjustments interrupt sub- control program;
Step 2 reads encoder values;
Step 3 judges angle;
Step 4 calculates distance;
Step 5 execution position controller;
The order of step 6 calculating current is simultaneously exported;
Step 7, which is interrupted, to be returned.
The present invention is for direct drive triaxial movement platform, and advantages of the present invention, which is essentially consisted in, establishes three-dimensional figure Error model and the method being controlled to space profiles error.Solve in modern system of processing, people are to complicated member The demand of part is continuously increased, and but it is impossible to meet the problem of complex components machining accuracy.Present invention is generally directed to reduce single shaft Tracking error and profile errors.Uniaxiality tracking error make use of the control that position ring controller is combined with speed ring controller Mode, it is ensured that uniaxiality tracking error is in good accuracy rating.The control present invention of three between centers profile errors is mainly proposed A kind of new profile errors estimate model to estimate profile errors, and apply it in three axle cross-couplings profile controls, Improve the control structure of three axle cross-coupling controllers.By above-mentioned two-part combination, finally cause triaxial movement platform The profile errors of system level off to zero.

Claims (6)

1. a kind of triaxial movement platform modified cross-coupling control method, it is characterised in that:This method is real using following device Apply:The device includes main circuit, control circuit and the part of control object three;Main circuit includes AC voltage adjusting module, rectifying and wave-filtering Module and IPM inversion modules;Control circuit to include DSP Processor, current sampling circuit, rotor position sample circuit, voltage to adjust Whole circuit, IPM isolated drive circuits and IPM protection circuits;Control object is three-phase permanent linear synchronous generator, and fuselage is equipped with light Grid chi;Current sampling circuit, rotor position sample circuit, voltage-regulating circuit, IPM isolated drive circuits and IPM protection circuits It is connected with DSP Processor, IPM isolated drive circuits and IPM protection circuits are connected with IPM inversion modules, current sampling circuit Three-phase permanent linear synchronous generator is connected to by Hall sensor, voltage-regulating circuit connection AC voltage adjusting module, exchange is adjusted Die block connects rectification filtering module, and rectification filtering module connection IPM inversion modules, IPM inversion modules connection three-phase permanent is straight Grating scale on line locking motor, three-phase permanent linear synchronous generator is connected with rotor position sample circuit;
This method uses a kind of profile errors estimation algorithm, to set up the profile errors model of triaxial movement platform, and by single shaft with Track control is combined with three axle cross-coupling controls, conventional cross-coupling control structure is improved, so as to ensure that system list Axle tracking accuracy and contour accuracy level off to zero;
Uniaxiality tracking is controlled, and uniaxiality tracking control uses position-speed ring double circle controling mode, uniaxiality tracking control system Design;
Speed ring uses the Pseudo-derivative- feedback controller with feedforward, i.e. PDFF controllers, and its control algolithm is expressed as:
<mrow> <mi>u</mi> <mo>=</mo> <msub> <mi>k</mi> <mi>i</mi> </msub> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <mrow> <mo>(</mo> <msub> <mi>v</mi> <mi>d</mi> </msub> <mo>-</mo> <msub> <mi>v</mi> <mi>a</mi> </msub> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> <mo>+</mo> <msub> <mi>k</mi> <mi>f</mi> </msub> <msub> <mi>v</mi> <mi>d</mi> </msub> <mo>-</mo> <msub> <mi>k</mi> <mi>p</mi> </msub> <msub> <mi>v</mi> <mi>a</mi> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>
Wherein kfFor feedforward compensation gain, kiFor storage gain, kpFor proportional gain;Speed ring control input vd(s) it is defeated with reality Go out velocity function va(s) relation between is:
<mrow> <mfrac> <mrow> <msub> <mi>v</mi> <mi>a</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> <mrow> <msub> <mi>v</mi> <mi>d</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>=</mo> <mfrac> <mrow> <msub> <mi>G</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mi>f</mi> </msub> <mo>+</mo> <msub> <mi>k</mi> <mi>i</mi> </msub> <mo>/</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> <mrow> <mn>1</mn> <mo>+</mo> <msub> <mi>G</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mi>p</mi> </msub> <mo>+</mo> <msub> <mi>k</mi> <mi>i</mi> </msub> <mo>/</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>
Disturbance input ξ (s) and reality output velocity function va(s) relation between is:
<mrow> <mfrac> <mrow> <msub> <mi>v</mi> <mi>a</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> <mrow> <mi>&amp;xi;</mi> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>=</mo> <mfrac> <mrow> <msub> <mi>G</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> <mrow> <mn>1</mn> <mo>+</mo> <msub> <mi>G</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mi>p</mi> </msub> <mo>+</mo> <msub> <mi>k</mi> <mi>i</mi> </msub> <mo>/</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>
Controlled device uses permanent magnetic linear synchronous motor, and its transmission function is
<mrow> <msub> <mi>G</mi> <mi>p</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mrow> <msub> <mi>K</mi> <mi>f</mi> </msub> <msub> <mi>G</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> <mi>s</mi> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>
Wherein, G0(s)=1/ (Ms+B) is actual controlled device, KfFor electromagnetic push coefficient;
Position ring adoption rate controller, coefficient is kx, therefore entirely the transmission function of uniaxiality tracking control system is represented by:
<mrow> <mfrac> <mrow> <msub> <mi>x</mi> <mi>p</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> <mrow> <msub> <mi>x</mi> <mi>r</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>=</mo> <mfrac> <mrow> <msub> <mi>k</mi> <mi>x</mi> </msub> <mo>&amp;CenterDot;</mo> <mfrac> <mrow> <msub> <mi>v</mi> <mi>a</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> <mrow> <msub> <mi>v</mi> <mi>d</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>&amp;CenterDot;</mo> <mfrac> <mn>1</mn> <mi>s</mi> </mfrac> </mrow> <mrow> <mn>1</mn> <mo>+</mo> <msub> <mi>k</mi> <mi>x</mi> </msub> <mo>&amp;CenterDot;</mo> <mfrac> <mrow> <msub> <mi>v</mi> <mi>a</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> <mrow> <msub> <mi>v</mi> <mi>d</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>&amp;CenterDot;</mo> <mfrac> <mn>1</mn> <mi>s</mi> </mfrac> </mrow> </mfrac> <mo>=</mo> <mfrac> <mrow> <msub> <mi>k</mi> <mi>x</mi> </msub> <msub> <mi>v</mi> <mi>a</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> <mrow> <msub> <mi>v</mi> <mi>d</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mi>s</mi> <mo>+</mo> <msub> <mi>k</mi> <mi>x</mi> </msub> <msub> <mi>v</mi> <mi>a</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow>
By setting fixed disturbance ξ, it is able to verify that system has stronger antijamming capability and very fast responding ability.
2. triaxial movement platform modified cross-coupling control method according to claim 1, it is characterised in that:This method The step of it is as follows:
The present invention includes step in detail below:
Step 1:Set up triaxial movement platform profile errors model:
It is by permanent magnetic linear synchronous motor PMLSM perpendicular to each other, permanent magnet linear synchronous motor tool side that triaxial movement platform, which is used, Formula is:
<mrow> <msub> <mi>F</mi> <mi>e</mi> </msub> <mo>=</mo> <msub> <mi>K</mi> <mi>f</mi> </msub> <msub> <mi>i</mi> <mi>q</mi> </msub> <mo>=</mo> <mi>M</mi> <mover> <mi>v</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>+</mo> <mi>B</mi> <mi>v</mi> <mo>+</mo> <mi>F</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow>
In formula, Fe:Electromagnetic push;M:The load-carrying gross mass of mover and mover institute of permanent-magnetism linear motor;iqFor mover q axles electricity Stream;Kf:Electromagnetic push coefficient;B:Viscous friction coefficient;F:Total perturbed force suffered by system;V is mover speed;For mover plus Speed;
Choose x (t) and v (t) rewritable is for system state variables, i.e. PMLSM state equation:
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mover> <mi>x</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mi>v</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <mi>v</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mo>-</mo> <mfrac> <mi>B</mi> <mi>M</mi> </mfrac> <mover> <mi>x</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <msub> <mi>K</mi> <mi>f</mi> </msub> <mi>M</mi> </mfrac> <mi>u</mi> <mo>+</mo> <mfrac> <mi>F</mi> <mi>M</mi> </mfrac> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>7</mn> <mo>)</mo> </mrow> </mrow>
Wherein, v (t) is electric mover speed;U=iqRepresent the control input amount of motor;X (t) is then defeated for the position of linear electric motors Go out;
Therefore, direct drive triaxial movement platform can be made up of three 2 rank differential equations:
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mover> <mi>x</mi> <mo>&amp;CenterDot;&amp;CenterDot;</mo> </mover> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mo>-</mo> <mfrac> <mi>B</mi> <mi>M</mi> </mfrac> <msub> <mover> <mi>x</mi> <mo>&amp;CenterDot;</mo> </mover> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <msub> <mi>K</mi> <mrow> <mi>f</mi> <mn>1</mn> </mrow> </msub> <mi>M</mi> </mfrac> <msub> <mi>u</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>F</mi> <mn>1</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mover> <mi>x</mi> <mo>&amp;CenterDot;&amp;CenterDot;</mo> </mover> <mn>2</mn> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mo>-</mo> <mfrac> <mi>B</mi> <mi>M</mi> </mfrac> <msub> <mover> <mi>x</mi> <mo>&amp;CenterDot;</mo> </mover> <mn>2</mn> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <msub> <mi>K</mi> <mrow> <mi>f</mi> <mn>2</mn> </mrow> </msub> <mi>M</mi> </mfrac> <msub> <mi>u</mi> <mn>2</mn> </msub> <mo>+</mo> <msub> <mi>F</mi> <mn>2</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mover> <mi>x</mi> <mo>&amp;CenterDot;&amp;CenterDot;</mo> </mover> <mn>3</mn> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mo>-</mo> <mfrac> <mi>B</mi> <mi>M</mi> </mfrac> <msub> <mover> <mi>x</mi> <mo>&amp;CenterDot;</mo> </mover> <mn>3</mn> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <msub> <mi>K</mi> <mrow> <mi>f</mi> <mn>3</mn> </mrow> </msub> <mi>M</mi> </mfrac> <msub> <mi>u</mi> <mn>3</mn> </msub> <mo>+</mo> <msub> <mi>F</mi> <mn>3</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>8</mn> <mo>)</mo> </mrow> </mrow>
The form for being expressed as state space is:
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mover> <mi>z</mi> <mo>&amp;CenterDot;</mo> </mover> <mn>1</mn> </msub> <mo>=</mo> <msub> <mi>A</mi> <mn>11</mn> </msub> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>A</mi> <mn>12</mn> </msub> <msub> <mi>z</mi> <mn>2</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mover> <mi>z</mi> <mo>&amp;CenterDot;</mo> </mover> <mn>2</mn> </msub> <mo>=</mo> <msub> <mi>A</mi> <mn>21</mn> </msub> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>A</mi> <mn>22</mn> </msub> <msub> <mi>z</mi> <mn>2</mn> </msub> <mo>+</mo> <mi>C</mi> <mi>u</mi> <mo>+</mo> <mi>&amp;rho;</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>9</mn> <mo>)</mo> </mrow> </mrow>
Wherein, z1(t)=[x1(t) x2(t) x3(t)]T,U=[u1 u2 u3]T, ρ= [F1 F2 F3]T, A11=0, A12=I, A21=0, A22=diag (- Bi/Mi), i=x, y, z are 3 × 3 matrixes;
Step 2:Triaxial movement platform profile errors model is set up:
In triaxial movement platform, the precision of profile errors model estimation directly affects profile control performance;Assuming that three-axis moving In platformFor command position, P is physical location, and position error vector isProfile errors vector isR0、R1For command bit 2 points put, are designated as R respectively0(x0,y0,z0), R1(x1,y1,z1);Q points are command position vectorOn a bit, coordinate note For Q (x, y, z);Point P to point R1Distance be position error vectorThe form for being expressed as relationship is:
<mrow> <mover> <mi>E</mi> <mo>&amp;RightArrow;</mo> </mover> <mo>=</mo> <msub> <mi>R</mi> <mn>1</mn> </msub> <mo>-</mo> <mi>P</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>-</mo> <mi>a</mi> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>-</mo> <mi>b</mi> </mtd> </mtr> <mtr> <mtd> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>-</mo> <mi>c</mi> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>10</mn> <mo>)</mo> </mrow> </mrow>
VectorFor
<mrow> <mover> <mi>R</mi> <mo>&amp;RightArrow;</mo> </mover> <mo>=</mo> <msub> <mi>R</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>R</mi> <mn>0</mn> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>z</mi> <mn>0</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>11</mn> <mo>)</mo> </mrow> </mrow>
By R0、R1It is with this 3 points release command position linear equations of Q:
<mrow> <mi>L</mi> <mo>:</mo> <mfrac> <mrow> <mi>x</mi> <mo>-</mo> <msub> <mi>x</mi> <mn>1</mn> </msub> </mrow> <mrow> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> </mrow> </mfrac> <mo>=</mo> <mfrac> <mrow> <mi>y</mi> <mo>-</mo> <msub> <mi>y</mi> <mn>1</mn> </msub> </mrow> <mrow> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> </mrow> </mfrac> <mo>=</mo> <mfrac> <mrow> <mi>z</mi> <mo>-</mo> <msub> <mi>z</mi> <mn>1</mn> </msub> </mrow> <mrow> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>z</mi> <mn>0</mn> </msub> </mrow> </mfrac> <mo>=</mo> <mi>t</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>12</mn> <mo>)</mo> </mrow> </mrow>
Assuming that physical location P is to command positionBeeline for vectorTherefore it is vectorialFor
<mrow> <mover> <mrow> <mi>P</mi> <mi>Q</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>+</mo> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mi>t</mi> <mo>-</mo> <mi>a</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>+</mo> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mi>t</mi> <mo>-</mo> <mi>b</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>+</mo> <mrow> <mo>(</mo> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>z</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mi>t</mi> <mo>-</mo> <mi>c</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>&amp;Delta;R</mi> <mi>x</mi> </msub> <mi>t</mi> <mo>-</mo> <mi>a</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>&amp;Delta;R</mi> <mi>y</mi> </msub> <mi>t</mi> <mo>-</mo> <mi>b</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>&amp;Delta;R</mi> <mi>z</mi> </msub> <mi>t</mi> <mo>-</mo> <mi>c</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msub> <mi>E</mi> <mi>x</mi> </msub> <mo>+</mo> <msub> <mi>&amp;Delta;R</mi> <mi>x</mi> </msub> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>E</mi> <mi>y</mi> </msub> <mo>+</mo> <msub> <mi>&amp;Delta;R</mi> <mi>y</mi> </msub> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>E</mi> <mi>z</mi> </msub> <mo>+</mo> <msub> <mi>&amp;Delta;R</mi> <mi>z</mi> </msub> <mi>t</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>13</mn> <mo>)</mo> </mrow> </mrow>
VectorWith vectorIt is mutually perpendicular to, inner product is zero;I.e.Obtaining that parameter t is updated to can after equation (12) To obtain coordinate Q, coordinate Q can further obtain profile errors value after obtaining, finally release profile errorsFor
Profile errors are understood by formula (14)In the component of x-axis, y-axis and z-axis;
Step 3:The design of Compensator of profile errors
In order to reduce profile errors, it is desirable to which physical location P can be to command position vectorAmendment, except correction position error to AmountIn each axis component Ex, Ey, EzOutside, profile errors vector need to be compensated in additionTherefore, vector is chosenArrived as physical location Profile errors between command positionCompensation, compensation rate number depend on λ size;Therefore,It is used as the benefit of whole system The amount of repaying, the compensation relationship formula of physical location to desired locations is:
<mrow> <mover> <mi>C</mi> <mo>&amp;RightArrow;</mo> </mover> <mo>=</mo> <mover> <mi>E</mi> <mo>&amp;RightArrow;</mo> </mover> <mo>+</mo> <mi>&amp;lambda;</mi> <mover> <mi>e</mi> <mo>&amp;RightArrow;</mo> </mover> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>15</mn> <mo>)</mo> </mrow> </mrow>
By formula (15), true location point P can have both been compensated to expectation location point R1Tracking error, point-to-point transmission can be compensated again Profile errors, it is leveled off to command position;And then obtain whole compensation rateIn the component of each axle:
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>C</mi> <mi>x</mi> </msub> <mo>=</mo> <msub> <mi>E</mi> <mi>x</mi> </msub> <mo>+</mo> <msub> <mi>&amp;lambda;e</mi> <mi>x</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>C</mi> <mi>y</mi> </msub> <mo>=</mo> <msub> <mi>E</mi> <mi>y</mi> </msub> <mo>+</mo> <msub> <mi>&amp;lambda;e</mi> <mi>y</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>C</mi> <mi>z</mi> </msub> <mo>=</mo> <msub> <mi>E</mi> <mi>z</mi> </msub> <mo>+</mo> <msub> <mi>&amp;lambda;e</mi> <mi>z</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>16</mn> <mo>)</mo> </mrow> </mrow>
Composite vector may be such that by formula (16)Level off to command position path, wherein λ is cross-couplings yield value, influence wheel The erection rate of wide error;By composite vectorGeometrical relationship understand λ value it is bigger,More order path is inclined to, modified profile is missed Difference vectorAmount will be big;
Step 4:Uniaxiality tracking controller design
In order to ensure the contour accuracy of three axles, uniaxiality tracking control is also essential, and uniaxiality tracking control is adopted in the present invention The control mode being combined with speed ring controller and position ring controller, speed ring controller uses PDFF control programs, position Put ring controller kxAdoption rate control mode;
Step 5:Profile control is designed
By the profile errors estimation technique noted earlier, it is known that profile errorsOnly with command positionIt is relevant with physical location P, category Geometrical relationship in position, therefore designed cross-coupling controller is located at the position loop part of control system, improves Conventional cross-coupling control structure.
3. triaxial movement platform modified cross-coupling control method according to claim 2, it is characterised in that:Intersect coupling The input of hop controller is the given position R of triaxial movement platformx、RyAnd RzWith the tracking error E of every axlex、EyAnd Ez;ex、eyWith ezIt is the profile errors component of each axle of cross-coupling controller output.
4. triaxial movement platform modified cross-coupling control method according to claim 2, it is characterised in that:The present invention The final control program by embedded DSP Processor of method realizes that its control process is performed according to the following steps:
Step 1 system initialization;
Step 2 allows TN1, TN2 to interrupt;
Step 3 starts T1 underflows and interrupted;
Step 4 routine data is initialized;
Step 5 opens total interruption;
Step 6 interrupt latency;
The sub- control program of step 7 TN1 interrupt processings;
Step 8 terminates.
5. triaxial movement platform modified cross-coupling control method according to claim 4, it is characterised in that:Wherein walk The sub- control program of T1 interrupt processings is according to the following steps in rapid 7:
Step 1 T1 interrupts sub- control program;
Step 2 keeps the scene intact;
Step 3 judges whether initial alignment;It is to enter step 4, otherwise into step 10;
Step 4 current sample, CLARK conversion, PARK conversion;
Step 5 judges whether to need position adjustments;Otherwise step 7 is entered;
The sub- control program of step 6 position adjustments interrupt processing;
Step 7 d q shaft currents are adjusted;
Step 8 PARK inverse transformations;
Step 9 calculates CMPPx and PWM outputs;
Sample step 10 position;
Step 11 initial alignment program;
Step 12 restoring scene;
Step 13, which is interrupted, to be returned.
6. triaxial movement platform modified cross-coupling control method according to claim 5, it is characterised in that:Wherein walk The sub- control program of position adjustments interrupt processing is according to the following steps in rapid 6:
Step 1 position adjustments interrupt sub- control program;
Step 2 reads encoder values;
Step 3 judges angle;
Step 4 calculates distance;
Step 5 execution position controller;
The order of step 6 calculating current is simultaneously exported;
Step 7, which is interrupted, to be returned.
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