Trajectory tracking control method for high-speed and high-acceleration machine tool

摘要

For the trajectory tracking control problem of high-speed and high-acceleration machine tool, an adaptive feedforward control method with frictional compensation is proposed. The mathematical model of high-speed machine tool drive system is established, and the influence on tracking dynamic characteristic of nonlinear factor is analyzed. In order to enhance tracking characteristic of feed system, the traditional feedforward method is improved by introducing velocity-acceleration feedforward control, condition integral and anti-saturation links, and the acceleration feedforward parameter is adjusted online by target acceleration and position output deviation. To eliminate the influence of nonlinear friction of drive system, a friction compensator is constructed based on online identification method. Simulation experiments are made using the proposed trajectory tracking method, and the method is applied to a two-axis high-speed motion control platform. The actual data show that the proposed method has small tracking error and fast response speed, which can meet the control requirement of the feed system of high-speed and high-acceleration machine tool.