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直线电机驱动XY平台的速度场轨迹规划与控制研究王丽梅,李兵

DOI: 10.13334/j.0258-8013.pcsee.2014.03.015, PP. 438-444

Keywords: XY平台,速度场,方向场,网格点,轮廓精度

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Abstract:

针对直线电机驱动XY平台执行高精度任意自由轨迹轮廓控制任务的情况,提出一种基于速度场的轨迹规划方案,以建构速度场的方式规划指令轨迹的路径,将双轴位置协调控制转化为各单轴速度控制,消除“轨径缩减”现象。首先,基于方向场理论,以划分网格点的方式构建轨迹速度场,并将由速度场规划的X、Y轴的速度分量作为系统指令的速度输入,通过设计各单轴PI控制器使X、Y轴的速度误差趋近于0,以提高系统的轮廓精度。仿真与实验结果表明,所提方案能够构建任意轨迹的速度场,将双轴协调控制简化为各单轴速度控制,提高了系统的轮廓精度。

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