点位控制数控系统的前馈控制器设计及运动轨迹规划

摘要

Most point to point CNC systems employ traditional feedback controller such as PID controller. However, there exists the shortcoming that the transient time is too long. In order to overcome the shortcoming, we designed a feedforward controller and a motion trajectory. First, zero error characteristic of the step response of system with zero phase error tracking controller(ZPETC) is proved. Then, Based on the characteristic and the requirement of the point to point motion, the ZPETC is applied to design the feedforward controller and plan the motion trajectory. The trajectory is composed of motion and location period. So the stability, rapidity and accuracy are assured. Fig.(5) gives simulation results. They show that the control strategy and the motion trajectory are effective when the mathematical model of the plant is accurate.%针对点位控制仅对定位精度以及调节时间有所要求的情况，本文从零相位误差跟踪算法出发，证明了零相位误差跟踪算法在阶跃输入下的无差性，并将之用于点位控制前馈控制器设计，以提高定位精度和快速性。在此条件下，为适应高速加工的需要，给出了一种既快速又稳定的运动轨迹。仿真结果表明，与传统的控制相比较，零相位误差跟踪前馈控制器用于点位控制能显著提高系统的定位快速性与运动平稳性。