中国机械工程

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伺服增益不匹配的双轴同步误差补偿策略

陈琳1,2;程正波1;黄炳琼1,2;潘海鸿1,2   

  1. 1.广西大学,南宁,530004
    2.广西制造系统与先进制造技术重点实验室,南宁,530004
  • 出版日期:2016-06-10 发布日期:2016-06-08
  • 基金资助:
    国家自然科学基金资助项目(51465005);广西制造系统与先进制造技术重点实验室项目(13-051-09S05,14-045-15S09);广西教育厅资助项目(ZL2014002,ZL2014003) 

Synchronization Error Compensation Strategies in Dual-drive System for Servo Gain Mismatch

Chen Lin1,2;Cheng Zhengbo1;Huang Bingqiong1,2;Pan Haihong1,2   

  1. 1.Guangxi University,Nanning,530004
    2.Guangxi Key Laboratory of Manufacturing System & Advanced Manufacturing Technology,Nanning,530004
  • Online:2016-06-10 Published:2016-06-08
  • Supported by:

摘要: 针对双轴驱动系统中由两轴伺服增益不匹配造成的运动不同步问题,从单轴稳态误差分析入手,构建单轴跟踪误差与两轴同步误差的关系。推导出参考位置为斜坡信号时同步误差的理论计算公式,确定两轴伺服增益系数及进给速度与同步误差间的定量关系;基于推导所得公式,提出将速度影响因子引入交叉耦合控制器中,并给出两种同步误差补偿策略(策略1和策略2)。通过仿真与实验验证了所推导同步误差理论计算公式的正确性;所提出的两种同步误差补偿策略均能有效减小因两轴伺服增益系数不匹配而产生的同步误差,且补偿后单轴系统的动态响应性能不会受到影响;与采用补偿策略1相比,采用补偿策略2后所获得的同步误差曲线更为平稳。

关键词: 双轴驱动系统, 伺服增益不匹配, 同步误差, 误差分析, 交叉耦合控制

Abstract: The mismatch of dual-axis servo gain parameters might bring negative impacts on the issues of synchronization in dual-drive system. To solve this problem, the relationship among tracking errors from single axis and the synchronization errors from dual-axis was investigated, by analysis of steady-state-error from single axis. Then the analytic formula of the synchronization errors was derived as reference position of ramp type applied. And then the quantitative relationship among the synchronization errors and parameters (the dual servo gain and feed rate) was built and determined.Furthermore, two novel compensation strategies for compensating synchronization errors were raised by introducing velocity factor into cross-coupling controller. Experimental and simulation results were given to verify the validity of the proposed scheme for obtaining synchronization errors. It can also be proved that both of two strategies can suppress synchronization errors effectively, which is caused by dual-axis servo gain mismatch. And the dynamic responses of single axis system is not affected after the proposed control strategies applied. By comparison of the two compensation strategies, smoother curve of synchronization errors may be obtained using the second compensation strategy.

Key words: dual-drive system, servo gain mismatch, synchronization error, error analysis, cross-coupling control

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