Design and Implementation of Trajectory Tracking For 3-Axis Servo Table Using UMAC Based On Optimal Preview Controller

摘要

This paper deals with the use of Programmable MultiAxis Controller (UMAC) based on preview control method to give good trajectory tracking performance of 3-axis servo table. The paper consists of mathematical modeling, simulation, and an experimental work. Adopt the position coordinate method of three-dimensional space trajectory tracking. In this paper, based on previous research, it gives a trajectory tracking control algorithm, constructs an experimental system used to implement trajectory tracking, establishes its mathematical model, then uses the control algorithm to carry out simulation analysis, and finally uses the simulation results to carry out experimental study. In this paper, the experimental system, which decomposes object trajectory to various axes for tacking, is effective. It takes the best motion controller as the core, and takes servo motor as driving mechanism to drive precision positioning platform. It possesses of powerful real time and linkage performance, and the powerful hardware and software function enable it to have a wide range of applications.