Contour Control for Direct Drive XY Table Based on Real-time Position Compensation and Repetitive Control

Abstract

Abstract:

The contour accuracy of a direct drive XY table driven by the PMLSM was influenced by end effect and friction of the XY table for time-varying free-form contour following task. To enhance the contouring performance, a contour error algorithm applicable for multi-axis nonlinear motion system was adopted. PEC and a cross-coupled controller were combined to make the contour error approach to zero. A compound control scheme based on combining RC and a PDFF speed controller were employed herein. Theoretical analyses and simulation results show that the designed control system makes XY table possess high performance of contour accuracy, and reduce the influences of the periodic disturbances of XY table system.

Key words:

direct drive XY table, permanent-magnet linear synchronous motor(PMLSM), real-time position error compensator(PEC), repetitive controller(RC), pseudo derivative feedback with feed-forward(PDFF)

摘要：

永磁直线同步电动机直接驱动XY平台系统在跟踪自由曲线时，由于轨迹的时变性，系统存在较大的轮廓误差，而系统的端部效应及摩擦力造成的周期性扰动也会影响轮廓加工的精度。针对该问题，采用适用于多轴非线性轮廓控制的实时轮廓误差计算法则，建立可用于自由曲线跟踪的XY平台的实时轮廓误差模型，采用实时位置补偿与交叉耦合控制相结合的方法，得到的系统轮廓误差趋近于零。单轴控制器采用重复控制与伪微分前馈反馈速度控制相结合的复合控制器。理论推导与仿真结果表明，该方案能够有效地提高系统的轮廓精度，同时可较好地抑制系统周期性扰动的影响。

关键词:

直接驱动XY平台, 永磁直线同步电动机, 实时位置补偿器, 重复控制器, 伪微分前馈控制器

CLC Number:

TP273
TM359

WANG Li-Mei, LI Bing.

Contour Control for Direct Drive XY Table Based on Real-time Position Compensation and Repetitive Control

[J]. China Mechanical Engineering, 2011, 22(9): 1030-1034.

王丽梅, 李兵.

基于实时位置补偿交叉耦合控制与重复控制的直接驱动XY平台系统设计

[J]. 中国机械工程, 2011, 22(9): 1030-1034.

References

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