HIGH-SPEED PLATFORM MOTION PARAMETER SELF-TUNING METHOD BASED ON MODEL IDENTIFICATION AND EQUIVALENT SIMPLIFICATION

摘要

A high-speed platform motion parameter self-tuning method based on model identification and equivalent simplification is provided, comprising: establishing a test of a motion state of a high-speed platform, identifying model parameters, and optimizing motion parameters of an equivalent simplified model; selecting any motion function from a pre-set parameterized curve, setting initial parameters, and driving the high-speed platform to move under the action of a controller and an actuator; collecting dynamic response information of the platform, calculating dynamic characteristic information of the platform such as stiffness, frequency, damping and the like; establishing a dynamic response equivalent simplified model by using the acquired dynamic characteristic information, and performing the optimization constrained by meeting motion precision and targeting at shorter execution time for the motion parameters in the selected parameterized motion function to obtain the optimum parameters. The method of the present invention gives consideration to the dynamic characteristic requirement of the platform and the comprehensive requirement of the parameter identification and optimization on the industrial site, facilitates the implementation of an algorithm in a motion control card, and is suitable for rapidly acquiring the optimum motion parameters of the actual high-speed platform on site.