本文選題：多軸系統(tǒng)　切入點(diǎn)：位置控制　出處：《西安電子科技大學(xué)》2012年碩士論文

【摘要】：由于機(jī)械系統(tǒng)的控制精度直接影響產(chǎn)品生產(chǎn)效率及質(zhì)量，高精度控制一直是控制理論與應(yīng)用的熱點(diǎn)問題。為了提高多軸系統(tǒng)的控制品質(zhì)，，不僅要考慮單個(gè)軸的控制精度，還要把各個(gè)軸之間的運(yùn)動(dòng)控制有機(jī)協(xié)調(diào)起來，才能達(dá)到系統(tǒng)整體全局性能的最優(yōu)化。同步控制技術(shù)是多軸系統(tǒng)降低同步誤差、保證加工精度的關(guān)鍵，也是當(dāng)前機(jī)械設(shè)計(jì)和制造技術(shù)的一個(gè)重要發(fā)展方向。 本文首先分析了多軸系統(tǒng)及同步控制技術(shù)的發(fā)展與現(xiàn)狀，簡單介紹了非線性控制理論。為了在保證控制精度的前提下，讓控制算法易于工程實(shí)現(xiàn)，我們采用了非線性飽和函數(shù)tanh(·)和交叉耦合技術(shù)，提出了一種飽和比例-微分(SP-D)加位置同步誤差的控制器，它很好的保證了同步控制精度。另外，在很多實(shí)際應(yīng)用中，由于限定了系統(tǒng)完成的時(shí)間，或者為了避免超調(diào)，往往需要嚴(yán)格控制從起始點(diǎn)到期望位置之間的運(yùn)動(dòng)過程，就這種情況，我們提出了一種飽和比例-微分(SP-D)加前饋補(bǔ)償?shù)耐礁櫩刂破�，以有效的跟蹤期望軌跡。最后，在工程實(shí)際中，當(dāng)控制算法所需要的控制力矩超過驅(qū)動(dòng)器最大輸出力矩時(shí)，控制力矩會(huì)被限幅輸出，這樣就會(huì)嚴(yán)重影響系統(tǒng)的控制品質(zhì)，為了避免這種情況，就前面兩種控制器分別設(shè)計(jì)了相應(yīng)的輸入受限同步控制器。應(yīng)用Lyapunov穩(wěn)定性理論和LaSalle不變性原理證明了所設(shè)計(jì)控制器的穩(wěn)定性，并通過實(shí)驗(yàn)證明了它們的優(yōu)越性。
[Abstract]:Since the control precision of mechanical system directly affects the production efficiency and quality, high precision control has always been a hot issue in control theory and application.In order to improve the control quality of multi-axis system, not only the control accuracy of single axis should be considered, but also the motion control of each axis should be coordinated to optimize the overall global performance of the system.Synchronous control technology is the key to reduce synchronization error and ensure machining accuracy in multi-axis system. It is also an important development direction of current mechanical design and manufacturing technology.In this paper, the development and present situation of multiaxial system and synchronous control technology are analyzed, and the nonlinear control theory is briefly introduced.In order to ensure the control accuracy and make the control algorithm easy to be realized in engineering, we adopt the nonlinear saturation function tanh () and cross coupling technology, and propose a kind of controller with saturation proportional differential SP-D) and position synchronization error.It ensures the precision of synchronization control.In addition, in many practical applications, as a result of the system completion time limit, or in order to avoid overshoot, it is often necessary to strictly control the movement from the starting point to the desired position, in this case,We propose a kind of synchronous tracking controller with saturation proportional differential SP-D) plus feedforward compensation to track the desired trajectory effectively.Finally, in engineering practice, when the control torque required by the control algorithm exceeds the maximum output torque of the driver, the control torque will be limited, which will seriously affect the control quality of the system.The corresponding input constrained synchronous controllers are designed for the former two controllers.The stability of the designed controller is proved by using Lyapunov stability theory and LaSalle invariance principle, and their advantages are proved by experiments.
【學(xué)位授予單位】：西安電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH165.2

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本文編號(hào)：1709272