基于H∞反馈的直接驱动XY平台切向轮廓控制设计

摘要

To improve the contour machining precision of XY table, on the basis of analyzing the contour error of system,the control strategy combining H. velocity feedback controller and tangential-contouring controller (TCC) was presented in the paper. The H. control theory was used to design a feedback controller in order to guarantee robust stability and robust performance of the closed-loop system under the condition of model perturbation and external disturbance. TCC makes the coupling effect between XY table eliminate and design of contour controller become more direct and simple. A compound controller combining the IP (proportion-integration) control with speed feed-forward control was used for the single axis system. The simulation results show that the designed control system possesses good tracking performance, strong robustness and high contour accuracy.%为了提高XY平台的轮廓加工精度,在分析系统轮廓误差的基础上,提出将H∞速度反馈控制器和切向-轮廓控制器(TCC)相结合的控制策略.在速度环内采用H∞鲁棒控制理论设计反馈控制器,在具有模型摄动及外部干扰的情况下,保证了闭环系统的鲁棒稳定性和鲁棒性能,TCC使得XY平台之间的耦合作用消除,且轮廓控制器设计变得更加直接和简单.单轴系统采用IP(积分-比例)控制与速度前馈控制相结合的复合控制器.仿真结果表明所设计控制系统在保证具有较好的跟踪性能、鲁棒性能的同时轮廓精度大大提高.