针对工业控制中双轴同步伺服系统的伺服参数不匹配及外部扰动造成的运动不同步问题,在分析了经典的位置控制策略和直线型双轴同步运动的同步误差与跟踪误差几何关系的基础上,引入耦合误差变量,设计了一种位置环非线性PID的交叉耦合同步控制器,实现跟踪误差与同步误差同时减小.在X-Y运动平台上,对所设计位置环非线性PID的交叉耦合同步控制器进行了实验,结果表明:基于非线性PID的交叉耦合同步控制相比于PID的传统交叉耦合同步控制,在单轴跟踪误差的最大值和均方根值上分别减少了50%和62.5%,在轴间同步误差的最大值和均方根值上分别减小了60%和63.64%.%In view of non-synchronous problem of biaxial synchronous servo system caused by servo param-eter mismatch and the external disturbance in industrial control, on the basis of analyzing classical position control strategy and geometrical relationship between synchronization error and tracking error of linear biaxial synchronous motion,this paper introduces the coupling error variable to design a cross-coupled synchronous controller with position loop nonlinear PID. And the experimental results based on X-Y motion platform dem-onstrate that compared with traditional PID control of cross coupling synchronization,single axis tracking er-rors under the effect of nonlinear PID control of cross coupling synchronization have decreased by 50% and 62.5% in maximum and RMS values and the maximum value and RMS value of synchronization errors be-tween axis have decreased by 60% and 63.64% respectively.
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