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基于速度场与反馈线性化的直接驱动XY平台轮廓控制

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Keywords: XY平台,速度场,方向场,网格点,反馈线性化,轮廓精度

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Abstract:

针对高精度直线电机直接驱动XY平台伺服控制系统,提出一种将速度场与反馈线性化相结合的控制策略,以提高系统的轮廓精度。根据方向场理论,以划分网格点的方式建构任意轨迹的速度场,对系统的指令轨迹路径进行规划,将双轴协调控制转化为单轴速度控制。采用反馈线性化方法针对各单轴非线性速度误差动态进行线性化处理后,设计状态反馈控制器,减小系统的速度误差,以提高系统轮廓精度。仿真与实验结果表明,所提控制策略能够有效提高XY平台的轮廓精度。

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