CN115580189B - High-speed gantry double-drive synchronous control method and system with disturbance suppression - Google Patents
High-speed gantry double-drive synchronous control method and system with disturbance suppression Download PDFInfo
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- H—ELECTRICITY
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Abstract
A high-speed gantry double-drive synchronous control method and system with disturbance suppression belong to the field of automatic control theory and motor control, and aim to solve the problem that an H-type double-motor driven gantry platform has poor synchronous control dynamic performance under the conditions of unbalanced load and frequent movement. The method establishes a mathematical model of a single permanent magnet synchronous motor under d-p axis coordinates; on the traditional three closed loop motor control structure of current, rotating speed and position, a position-speed cross coupling controller is designed; obtaining the friction force of the sliding rails on two sides and the electromagnetic torque difference value of the two motors caused by load movement based on a load movement model; and then designing a double-motor cross feedforward compensation controller to form a cross coupling control strategy based on load change compensation. The invention is applied to synchronous control of the H-shaped gantry dual-drive motion platform, has strong inhibition effect on disturbance such as load unbalance, impact vibration and the like, and can realize rapid compensation of synchronous errors of the H-shaped gantry dual-drive motion platform in a high-speed motion state.
Description
Technical Field
The invention relates to a high-speed gantry double-drive synchronous control method with disturbance suppression, and belongs to the fields of automatic control theory and motor control.
Background
The surface mounting machine is key equipment in the field of surface mounting, has the characteristics of high speed and high precision, and can obtain higher structural rigidity and better dynamic performance by adopting a double-shaft synchronous control H-shaped gantry double-motor driving method, and has remarkable advantages compared with a single-shaft driving mode.
To meet the high mounting efficiency requirement, the head of the chip mounter is usually provided with a plurality of mounting heads, and therefore the head is usually heavy. If the Y-axis of the chip mounter adopts a single-axis servo driving mode, the requirements of high speed and high acceleration of equipment cannot be met, therefore, a double-motor driving mode is adopted in the Y direction of the chip mounter generally, larger thrust can be provided, and abrasion of guide rails and guide screws caused by unbalance of single-drive loads can be reduced.
Common synchronization control strategies include master-slave control, cross-coupling control, and the like. The master-slave control strategy has larger tracking error, so that the method is not suitable for high-precision control of the chip mounter; the single position cross coupling synchronous control has a defect of dynamic response performance in the aspect of high-speed synchronous control, and unbalanced load disturbance caused by high-speed reciprocating motion of the machine head in the X direction further has adverse effect on the synchronous control dynamic performance of the chip mounter. The research of the double-drive synchronous control method under disturbance inhibition has important significance for improving the synchronous control dynamic performance of equipment.
Disclosure of Invention
The invention aims to solve the problem that the synchronous control dynamic performance of an H-type double-motor driven gantry platform is poor under the conditions of unbalanced load and frequent movement.
The high-speed gantry double-drive synchronous control method with disturbance suppression comprises the following steps:
step one, establishing a mathematical model of a single permanent magnet synchronous motor under d-q axis coordinates:
wherein L is an alternating-direct axis inductance, s is a complex variable; r is R s U is equivalent to the internal resistance of the rotor q To input voltage phi for quadrature axis f For stator flux linkage omega rm Is the rotational angular velocity; j (J) m For moment of inertia, p n I is the pole pair number of the motor q For the quadrature axis current, T l Representing damping moment;
step two, designing a cross coupling controller on the basis of a mathematical model of the motor under d-q axis coordinates on a current, rotating speed and position three-closed loop motor control structure;
the traditional current, rotating speed and position three-closed-loop motor control structure is as follows:
based on the obtained mathematical model under the d-q axis coordinate, the three closed-loop control structure of the permanent magnet synchronous motor is divided into a current loop, a speed loop and a position loop; the current loop and the speed loop adopt a PI control method, and the position loop adopts a PID control method;
the cross coupling controller is divided into a position cross coupling controller and a speed cross coupling controller;
the input quantity of the position cross-coupling controller is a deviation value of the corner position of the double motors, the control target value is constant at 0, a PID control method is adopted, and the output end of the position cross-coupling controller is the feedback end of the motor position loop controllers at the two sides of the H-shaped gantry;
the input quantity of the speed cross-coupling controller is the deviation E of the rotation angular speed of the double motors and the change rate EC of the deviation, and the control is carried out by using a fuzzy PID control method;
step three, obtaining a difference value of electromagnetic moments of the two motors caused by load movement according to a load movement model; the difference of the electromagnetic moments of the two motors is as follows:
wherein m is the mass of the machine head, x is the distance between the gravity center of the machine head and the center of the cross beam, and the direction is positive to the right; a is the average acceleration value of two motors, F mc Is the difference value of the electromagnetic moments of the two motors; l is the effective movement length of the cross beam;
output value F mc The compensation value is output after passing through the load compensation controller and is used as a disturbance compensation link to be fed back to the input end of the current loop of the spindle motor;
designing a double-motor cross feedforward compensation controller according to a load motion model to form a cross coupling control strategy based on load change compensation, wherein the double-motor cross feedforward compensation controller comprises a cross coupling controller and a load compensation controller;
the cross coupling controller is a Y-axis double-motor position synchronous controller, the input quantity of the cross coupling controller is the position deviation of motors at two sides, a fuzzy PID control method is adopted, the difference value of the motor positions is amplified and integrated and is respectively output to the feedback end of a position loop controller of a single motor, so that the motor with advanced position reduces the running speed, and the motor with retarded position increases the running speed, and the motors at two sides can realize the position synchronization rapidly;
the load compensation controller is the electromagnetic moment difference value F of the two motors in the third step mc 。
Further, the double motors in the method adopt a motor arrangement strategy of symmetrical arrangement and reverse operation.
Further, the fuzzy PID control method used by the speed cross-coupling controller adopts a triangle membership function as the membership function of the input quantity and the output quantity, uses a minimum method to carry out fuzzy reasoning, and uses a gravity center method to carry out fuzzy solving operation.
Further, the fuzzy PID control method adopts a triangle membership function as the membership function of the input quantity and the output quantity, and the fuzzy reasoning process using the minimum method comprises the following steps:
the triangle membership function of the fuzzy system is designed as follows: setting the argument of the input quantity E as [ -1,1] according to the variation range of the input quantity, and defining NB, NM, NS, ZO, PS, PM, PB fuzzy quantities to form a fuzzy subset; setting [ -500,500] as the discourse domain of the input quantity EC according to the variation speed of the deviation, and defining NB, NS, ZO, PS, PB fuzzy quantities as fuzzy subsets of the EC; setting the domain of the output control quantity as [ -300,300], the domain of the control quantity as [ -700,700], and defining NB, NM, NS, ZO, PS, PM, PB 7 fuzzy quantities to form a fuzzy subset; respectively designing membership functions of the input quantity E, EC and the output quantity according to the discourse domain and the fuzzy subset;
the fuzzy rules adopted by the fuzzy PID control method are as follows:
when the system deviation E is NB or PB, the control output is larger, so that the corresponding fuzzy rule is PB, NB, PM, NM;
when the speed deviation E and the deviation change EC of motors at two sides of the H-shaped gantry are PM or NM, the output of the controller is properly reduced, and the corresponding fuzzy rule is PS, NS, PM, NM;
when the speed deviation EC values of motors at two sides of the H-shaped gantry are ZO, PS and NS, the integral parameter and the proportion parameter should be increased, and the damping parameter is properly increased, and the corresponding fuzzy rule is ZO, NS and PS.
Further, the process of performing a deblurring operation using a gravity center method includes the steps of:
the fuzzy system gravity center method is used for solving fuzzy operation, the gravity center method is used for confirming the membership relation of a corresponding fuzzy subset and a corresponding fuzzy subset according to a membership function by using two variables of input deviation E and deviation change rate EC, and the operation is carried out according to membership weighted average, wherein the formula is as follows:
wherein i represents the number of fuzzy subsets to which the input quantity belongs, t i Represents the fuzzy subset corresponding to the input quantity, u i (t) represents the degree of membership of the input quantity to the corresponding fuzzy subset, and u represents the output after defuzzification.
Further, step three obtains the friction force of the slide rails at two sides while obtaining the electromagnetic moment difference value of the two motors caused by the load motion according to the load motion model, and the friction force of the slide rails at two sides is as follows:
wherein m is the mass of the machine head, x is the distance from the center of gravity of the machine head to the center of the cross beam, the direction is positive to the right, mu is the coefficient of sliding friction, L is the effective movement length of the cross beam, and g is the gravity acceleration.
Further, the formula of the friction force of the sliding rails at the two sides is determined by the following steps:
the friction force between the unilateral sliding rail and the sliding block is expressed as:
wherein F is f1 F is the friction force between the left side slide rail and the slide block f2 The friction force between the right side slide rail and the slide block is obtained;
thereby obtaining the friction difference of the slide rails at two sides
A computer storage medium having at least one instruction stored therein, the at least one instruction loaded and executed by a processor to implement the high speed gantry dual drive synchronization control method with disturbance rejection.
A high speed gantry dual drive synchronous control system with disturbance rejection, comprising: the device comprises a differential pulse input module, a motor three-closed-loop control module, a cross coupling synchronous control module, a host communication module, a current sampling module and a power driving module; wherein,,
host communication module: the device is used for receiving the motion data information such as target position, speed parameters and the like from a host computer side;
differential pulse input module: the motor code wheel information acquisition device is used for capturing motor code wheel information and further calculating the position and the rotating speed;
the current sampling module is used for: collecting three-phase current of a motor in real time, converting the three-phase current into a digital signal, and filtering and conditioning the digital signal;
the motor three closed loop control module: the closed loop control of three links of current, rotating speed and position of the servo motor is realized;
cross coupling synchronous control module: the synchronous error is regulated by a rotating speed-position cascade regulation algorithm; the cross coupling control strategy used by the cross coupling synchronous control module is a cross coupling control strategy based on load change compensation formed by a high-speed gantry double-drive synchronous control method with disturbance suppression.
Further, the high-speed gantry double-drive synchronous control system with disturbance suppression further comprises a power driving module, and the power driving module controls armature voltage of the motor through pulse width modulation.
The beneficial effects of the invention are as follows:
according to the invention, the disturbance compensation control algorithm is utilized to compensate the load disturbance caused by the center deviation of the cross beam due to the X-axis load movement, random errors caused by factors such as flexible deformation, mechanical vibration, uneven temperature and humidity of the screw in the high-speed operation process are quickly corrected through the cross coupling synchronous control algorithm, the disturbance such as load unbalance and impact vibration is greatly inhibited, and the quick compensation of the synchronous errors of the moving platform in the high-speed movement state can be realized.
Drawings
FIG. 1 is a membership function of an input E;
FIG. 2 is a membership function of the input EC;
FIG. 3 is a membership function of output;
FIG. 4 is a fuzzy rule table;
FIG. 5 is a schematic diagram of an H-shaped gantry dual-axis load motion model of the invention;
FIG. 6 is a schematic block diagram of cross-coupling synchronous control based on load variation compensation according to the present invention;
FIG. 7 is a step response curve of the motor cross-coupling synchronous control system for the high-speed H-shaped gantry of the present invention;
FIG. 8 is an error curve under the motor cross-coupling synchronous control system for the high-speed H-shaped gantry of the present invention;
FIG. 9 is a step response curve under a load change compensation based cross-coupled control system for a high speed H-gantry of the present invention;
fig. 10 is an error curve under the cross-coupling control system based on load variation compensation for the high-speed H-gantry of the present invention.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to figures 5 and 6,
the implementation mode is a high-speed gantry double-drive synchronous control method with disturbance suppression, which comprises the following steps:
step one, establishing a mathematical model of a single permanent magnet synchronous motor under d-q axis coordinates; the mathematical model of the single permanent magnet synchronous motor under d-q axis coordinates is as follows:
wherein L is an alternating-direct axis inductance, s is a complex variable; r is R s U is equivalent to the internal resistance of the rotor q To input voltage phi for quadrature axis f For stator flux linkage omega rm Is the rotational angular velocity; j (J) m For moment of inertia, p n I is the pole pair number of the motor q For the quadrature axis current, T l Representing the damping moment.
Step two, designing a cross coupling controller on the basis of a mathematical model of the motor under d-q axis coordinates on a traditional current, rotating speed and position three-closed-loop motor control structure;
the traditional current, rotating speed and position three-closed-loop motor control structure is as follows:
based on the obtained mathematical model under the d-q axis coordinate, the three closed-loop control structure of the permanent magnet synchronous motor is divided into a current loop, a speed loop and a position loop; the current loop and the speed loop adopt a PI control method, and the position loop adopts a PID control method.
The cross coupling controller is divided into a position cross coupling controller and a speed cross coupling controller;
the input quantity of the position cross-coupling controller is a deviation value of the corner position of the double motors, the control target value is constant at 0, a PID control method is adopted, the sampling period is 1ms, and the output end of the position cross-coupling controller is the feedback end of the position loop controllers of the motors on two sides of the H-shaped gantry;
the input quantity of the speed cross-coupling controller is the deviation E of the rotation angular speed of the double motors and the change rate EC of the deviation, and the control is carried out by using a fuzzy PID control method;
the fuzzy PID control method adopts a triangle membership function as the membership function of the input quantity and the output quantity, uses a minimum method to carry out fuzzy reasoning, and uses a gravity center method to carry out fuzzy solving operation;
the triangle membership function of the fuzzy system is designed as follows:
setting the argument of the input quantity E as [ -1,1] according to the variation range of the input quantity, and defining NB, NM, NS, ZO, PS, PM, PB fuzzy quantities to form a fuzzy subset; setting [ -500,500] as the discourse domain of the input quantity EC according to the variation speed of the deviation, and defining NB, NS, ZO, PS, PB fuzzy quantities as fuzzy subsets of the EC; the domain of the output control quantity is set to be [ -300,300], the domain of the control quantity is set to be [ -700,700], and NB, NM, NS, ZO, PS, PM, PB fuzzy quantities are defined to form a fuzzy subset. The membership functions of the input quantity E, EC and the output quantity are respectively designed according to the discourse domain and the fuzzy subset, and the membership functions of the input quantity E, EC are designed as shown in fig. 1 and 2; the membership function of the output is shown in figure 3.
The fuzzy rule adopted by the fuzzy PID control method is shown in figure 4, and specifically comprises the following steps:
when the system deviation E is NB or PB, the control output is larger, so that the corresponding fuzzy rule is PB, NB, PM, NM;
when the speed deviation E and the deviation change EC of motors at two sides of the H-shaped gantry are PM or NM, the output of the controller is properly reduced, and the corresponding fuzzy rule is PS, NS, PM, NM;
when the speed deviation EC values of motors at two sides of the H-shaped gantry are ZO, PS and NS, the integral parameter and the proportion parameter should be increased, and the damping parameter is properly increased, and the corresponding fuzzy rule is ZO, NS and PS.
The fuzzy system gravity center method is used for solving fuzzy operation, the gravity center method is used for confirming the membership relation of a corresponding fuzzy subset and a corresponding fuzzy subset according to a membership function by using two variables of input deviation E and deviation change rate EC, and the operation is carried out according to membership weighted average, wherein the formula is as follows:
wherein i represents the number of fuzzy subsets to which the input quantity belongs, t i Represents the fuzzy subset corresponding to the input quantity, u i (t) represents the degree of membership of the input quantity to the corresponding fuzzy subset, and u represents the output after defuzzification.
Step three, a load movement model is established, as shown in fig. 5, because the equipment head moves in the axial direction of the cross beam X, the pressures at two sides of the Y axis are unbalanced, so that the friction force at two sides of the Y axis is influenced, the friction force deviation generated by the load position movement is calculated according to the mass and the position of the load moving in the X axis, and an output value F is obtained mc The schematic block diagram of the cross-coupling synchronous control based on the load variation compensation of the current loop input compensated to the spindle motor is shown in fig. 6.
Deducing a calculation formula of friction force of the sliding rails on two sides and a formula of difference value of electromagnetic torque of the two motors caused by load movement under the condition of neglecting friction resistance of the sliding rails; the specific process is as follows:
the single side slide rail and slider friction force can be expressed as:
the friction force between the left side slide rail and the slide block is F f1 The friction force between the right side slide rail and the slide block is F f2
Difference F of friction force of slide rails on two sides fc Can be expressed as:
wherein m is the mass of the machine head, x is the distance from the center of gravity of the machine head to the center of the cross beam, the direction is positive to the right, mu is the coefficient of sliding friction, L is the effective movement length of the cross beam, and g is the gravity acceleration;
simultaneously, the load inertia driven by the motors at the two sides is changed due to the movement of the machine head, and the load mass m born by the loads at the two sides 1 And m 2 Let the acceleration value of two motors be a 1 And a 2 The two motors are kept synchronous, and the required acceleration values are equal, namely a 1 ＝a 2 =a, according to the kinematic relationship, the two motor electromagnetic torque difference can be obtained as:
wherein a is the average acceleration value of the two motors, F mc For the difference of the electromagnetic moments of two motors, output a value F mc The variable is fed back to the input end of the current loop of the spindle motor (Y1) as a disturbance compensation link for the compensation value output after passing through the load compensation controller.
And step four, designing a double-motor cross feedforward compensation controller according to a load motion model to form a cross coupling control strategy based on load change compensation, wherein the double-motor cross feedforward compensation controller comprises the cross coupling controller and the load compensation controller, as shown in fig. 6.
The cross coupling controller is a Y-axis double-motor position synchronous controller, the input quantity of the cross coupling controller is the position deviation of motors at two sides, the sampling period is 1ms, a fuzzy PID control method is adopted, the difference value of the motor positions is amplified and integrated and is respectively output to the feedback end of a position loop controller of a single motor, so that the motor with advanced position reduces the running speed, and the motor with retarded position improves the running speed, and the motors at two sides can realize the position synchronization rapidly.
The load compensation controller outputs a load motion model in the third step, namely an electromagnetic moment difference value F of two motors mc 。
Step response curves under the motor cross-coupling synchronous control system are shown in fig. 7, error curves under the motor cross-coupling synchronous control system are shown in fig. 8, step response curves under the cross-coupling control system based on load change compensation are shown in fig. 9, and error curves under the cross-coupling control system based on load change compensation are shown in fig. 10;
in the embodiment, a motor arrangement strategy of symmetrically arranging and reversely running is adopted for the double motors in the double-drive synchronous control.
The second embodiment is as follows:
the embodiment is a computer storage medium, in which at least one instruction is stored, where the at least one instruction is loaded and executed by a processor to implement the high-speed gantry dual-drive synchronization control method with disturbance suppression.
It should be understood that any method, including those described herein, may be provided as a computer program product, software, or computerized method, which may include a non-transitory machine-readable medium having stored thereon instructions, which may be used to program a computer system, or other electronic device. The storage medium may include, but is not limited to, magnetic storage media, optical storage media; the magneto-optical storage medium includes: read only memory ROM, random access memory RAM, erasable programmable memory (e.g., EPROM and EEPROM), and flash memory layers; or other type of medium suitable for storing electronic instructions.
And a third specific embodiment:
the embodiment is a high-speed gantry dual-drive synchronous control system with disturbance suppression, which specifically comprises: the device comprises a differential pulse input module, a motor three-closed-loop control module, a cross coupling synchronous control module, a host communication module, a current sampling module and a power driving module; wherein,,
host communication module: the device is used for receiving the motion data information such as target position, speed parameters and the like from a host computer side;
differential pulse input module: the motor code wheel information acquisition device is used for capturing motor code wheel information and further calculating the position and the rotating speed;
the current sampling module is used for: collecting three-phase current of a motor in real time, converting the three-phase current into a digital signal, and filtering and conditioning the digital signal;
the motor three closed loop control module: the closed loop control of three links of current, rotating speed and position of the servo motor is realized;
cross coupling synchronous control module: the synchronous error is regulated by a rotating speed-position cascade regulation algorithm; the cross coupling control strategy used by the cross coupling synchronous control module is a cross coupling control strategy based on load change compensation formed by a high-speed gantry double-drive synchronous control method with disturbance suppression;
and a power driving module: the control of the motor armature voltage is achieved by pulse width modulation.
The above examples of the present invention are only for describing the calculation model and calculation flow of the present invention in detail, and are not limiting of the embodiments of the present invention. Other variations and modifications of the above description will be apparent to those of ordinary skill in the art, and it is not intended to be exhaustive of all embodiments, all of which are within the scope of the invention.
Claims (10)
1. The high-speed gantry double-drive synchronous control method with disturbance suppression is characterized by comprising the following steps of:
step one, establishing a mathematical model of a single permanent magnet synchronous motor under d-q axis coordinates:
wherein L is an alternating-direct axis inductance, s is a complex variable; r is R s Is equivalent to a rotorInternal resistance u q To input voltage phi for quadrature axis f For stator flux linkage omega rm Is the rotational angular velocity; j (J) m For moment of inertia, p n I is the pole pair number of the motor q For the quadrature axis current, T l Representing damping moment;
step two, designing a cross coupling controller on the basis of a mathematical model of the motor under d-q axis coordinates on a current, rotating speed and position three-closed loop motor control structure;
the three closed loop motor control structure of current, rotation speed and position is as follows:
based on the obtained mathematical model under the d-q axis coordinate, the three closed-loop control structure of the permanent magnet synchronous motor is divided into a current loop, a speed loop and a position loop; the current loop and the speed loop adopt a PI control method, and the position loop adopts a PID control method;
the cross coupling controller is divided into a position cross coupling controller and a speed cross coupling controller;
the input quantity of the position cross-coupling controller is a deviation value of the corner position of the double motors, the control target value is constant at 0, a PID control method is adopted, and the output end of the position cross-coupling controller is the feedback end of the motor position loop controllers at the two sides of the H-shaped gantry;
the input quantity of the speed cross-coupling controller is the deviation E of the rotation angular speed of the double motors and the change rate EC of the deviation, and the control is carried out by using a fuzzy PID control method;
step three, obtaining a difference value of electromagnetic moments of the two motors caused by load movement according to a load movement model; the difference of the electromagnetic moments of the two motors is as follows:
wherein m is the mass of the machine head, x is the distance between the gravity center of the machine head and the center of the cross beam, and the direction is positive to the right; a is the average acceleration value of two motors, F mc Is the difference value of the electromagnetic moments of the two motors; l is the effective movement length of the cross beam;
output value F mc To the compensation value output after passing through the load compensation controllerThe current loop is used as a disturbance compensation link and fed back to the input end of the current loop of the spindle motor;
designing a double-motor cross feedforward compensation controller according to a load motion model to form a cross coupling control strategy based on load change compensation, wherein the double-motor cross feedforward compensation controller comprises a cross coupling controller and a load compensation controller;
the cross coupling controller is a Y-axis double-motor position synchronous controller, the input quantity of the cross coupling controller is the position deviation of motors at two sides, a fuzzy PID control method is adopted, the difference value of the motor positions is amplified and integrated and is respectively output to the feedback end of a position loop controller of a single motor, so that the motor with advanced position reduces the running speed, and the motor with retarded position increases the running speed, and the motors at two sides can realize the position synchronization rapidly;
the load compensation controller is the electromagnetic moment difference value F of the two motors in the third step mc 。
2. The high-speed gantry dual-drive synchronous control method with disturbance rejection according to claim 1, wherein the dual motors in the method adopt a motor arrangement strategy of symmetrical arrangement and reverse operation.
3. The high-speed gantry dual-drive synchronous control method with disturbance rejection according to claim 1 or 2, wherein a fuzzy PID control method used by the speed cross-coupling controller adopts a triangle membership function as a membership function of input quantity and output quantity, performs fuzzy reasoning by using a minimum method, and performs a defuzzification operation by using a gravity center method.
4. The method for high-speed gantry double-drive synchronous control with disturbance rejection according to claim 3, wherein the fuzzy PID control method adopts a triangle membership function as the membership function of the input quantity and the output quantity, and the fuzzy reasoning process using the minimum method comprises the following steps:
the triangle membership function of the fuzzy system is designed as follows: setting the argument of the input quantity E as [ -1,1] according to the variation range of the input quantity, and defining NB, NM, NS, ZO, PS, PM, PB fuzzy quantities to form a fuzzy subset; setting [ -500,500] as the discourse domain of the input quantity EC according to the variation speed of the deviation, and defining NB, NS, ZO, PS, PB fuzzy quantities as fuzzy subsets of the EC; setting the domain of the output control quantity as [ -300,300], the domain of the control quantity as [ -700,700], and defining NB, NM, NS, ZO, PS, PM, PB 7 fuzzy quantities to form a fuzzy subset; respectively designing membership functions of the input quantity E, EC and the output quantity according to the discourse domain and the fuzzy subset;
the fuzzy rules adopted by the fuzzy PID control method are as follows:
when the system deviation E is NB or PB, the control output is larger, so that the corresponding fuzzy rule is PB, NB, PM, NM;
when the speed deviation E and the deviation change EC of motors at two sides of the H-shaped gantry are PM or NM, the output of the controller is properly reduced, and the corresponding fuzzy rule is PS, NS, PM, NM;
when the speed deviation EC values of motors at two sides of the H-shaped gantry are ZO, PS and NS, the integral parameter and the proportion parameter should be increased, and the damping parameter is properly increased, and the corresponding fuzzy rule is ZO, NS and PS.
5. The method for high-speed gantry dual-drive synchronous control with disturbance rejection according to claim 4, wherein the process of performing the deblurring operation using the gravity center method comprises the steps of:
the fuzzy system gravity center method is used for solving fuzzy operation, the gravity center method is used for confirming the membership relation of a corresponding fuzzy subset and a corresponding fuzzy subset according to a membership function by using two variables of input deviation E and deviation change rate EC, and the operation is carried out according to membership weighted average, wherein the formula is as follows:
wherein i represents the number of fuzzy subsets to which the input quantity belongs, t i Represents the fuzzy subset corresponding to the input quantity, u i (t) TableThe input is shown as the degree of membership to the corresponding fuzzy subset, u representing the output after defuzzification.
6. The method for synchronously controlling double driving of a high-speed gantry with disturbance rejection according to claim 3, wherein the third step obtains the friction force of two side sliding rails while obtaining the difference value of electromagnetic torque of two motors caused by load motion according to a load motion model, and the friction force of two side sliding rails is as follows:
wherein m is the mass of the machine head, x is the distance from the center of gravity of the machine head to the center of the cross beam, the direction is positive to the right, mu is the coefficient of sliding friction, L is the effective movement length of the cross beam, and g is the gravity acceleration.
7. The method for synchronous control of two drives of a high-speed gantry with disturbance rejection according to claim 6, wherein the formula of the friction force of the slide rails at two sides is determined by the following steps:
the friction force between the unilateral sliding rail and the sliding block is expressed as:
wherein F is f1 F is the friction force between the left side slide rail and the slide block f2 The friction force between the right side slide rail and the slide block is obtained;
thereby obtaining the friction difference of the slide rails at two sides
8. A computer storage medium having stored therein at least one instruction that is loaded and executed by a processor to implement the high speed gantry dual drive synchronization control method with disturbance rejection according to one of claims 1 to 7.
9. Control system based on the high-speed gantry dual-drive synchronous control method with disturbance rejection according to one of claims 1 to 7, characterized in that it comprises: the device comprises a differential pulse input module, a motor three-closed-loop control module, a cross coupling synchronous control module, a host communication module, a current sampling module and a power driving module; wherein,,
host communication module: the speed control device is used for receiving the target position and speed parameter information from the host computer side;
differential pulse input module: the motor code wheel information acquisition device is used for capturing motor code wheel information and further calculating the position and the rotating speed;
and a current sampling module: the method is used for collecting three-phase current of the motor in real time, converting the three-phase current into a digital signal and carrying out filtering and signal conditioning;
the motor three closed loop control module: the closed loop control of three links of current, rotating speed and position of the servo motor is realized;
cross coupling synchronous control module: the synchronous error is regulated by a rotating speed-position cascade regulation algorithm; the cross-coupling synchronous control module uses a cross-coupling control strategy to control.
10. The control system of claim 9, further comprising a power drive module that effects control of motor armature voltage through pulse width modulation.
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| CN106533298A (en) * | 2016-12-24 | 2017-03-22 | 天津工业大学 | Method for controlling rotating speed synchronization of dual-permanent magnet synchronous motor drive system |
| CN109495026A (en) * | 2018-11-29 | 2019-03-19 | 苏州汇川技术有限公司 | Double drive gantry platform drive system, method, equipment and computer-readable memory |
| CN109839826A (en) * | 2019-03-04 | 2019-06-04 | 深圳市翠箓科技绿化工程有限公司 | Double drive coordinated movement of various economic factors synchronisation control means |
| CN112799304A (en) * | 2021-01-06 | 2021-05-14 | 武汉理工大学 | Dual-motor synchronous control method and device based on time-varying friction compensation |
| CN115268369A (en) * | 2022-08-16 | 2022-11-01 | 吉林大学 | Gantry machine tool movable beam cross coupling control method |
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| CN106533298A (en) * | 2016-12-24 | 2017-03-22 | 天津工业大学 | Method for controlling rotating speed synchronization of dual-permanent magnet synchronous motor drive system |
| CN109495026A (en) * | 2018-11-29 | 2019-03-19 | 苏州汇川技术有限公司 | Double drive gantry platform drive system, method, equipment and computer-readable memory |
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