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减小轮廓误差是轮廓线跟踪应用中的一个重要问题.在高速加工中,除了使用高响应的单轴闭环控制方法以保证跟随误差外,还要使用协调控制方法使多轴合成的轮廓误差达到指定的要求.常见的协调控制方法如交叉耦合控制,由于自身的特点,位置环在上位置装置如CNC中实现,伺服中只实现简单的速度控制.这种控制方法加重了上位装置的计算负荷,限制伺服性能的发挥,同时没有充分利用当前主流的运动控制总线的优点.为此本文提出一种新的基于运动控制总线的双轴协调控制方法,利用运动控制总线,将单轴位置环控制下放到伺服中实现.这种结构能够减轻上位装置的计算负荷,充分发挥伺服的控制优势,不改变位置控制的稳定性.通过理论分析及实验结果,验证了这种方法的优点及可行性.本文提出的方法符合运动控制总线和伺服的技术发展趋势,为协调控制探索出一条新的途径.
Reducing the contour error is an important issue in contour tracking applications.In high-speed machining, in addition to using a single-axis closed-loop control method with high response to ensure the following error, the coordinated control method is used to achieve the contour error of multi-axis synthesis Specify the requirements of the common coordination control methods such as cross-coupling control, due to its own characteristics, the position loop in the upper position of the device such as CNC implementation, servo only to achieve a simple speed control.This control method increases the host device’s computational load , To limit the performance of the servo performance, while not taking full advantage of the current advantages of the mainstream motion control bus.Therefore, this paper presents a new two-axis coordinated motion control bus-based control method, the use of motion control bus, the single-axis position loop control Down to the servo to achieve.This structure can reduce the overhead load on the host device, give full play to the servo control advantages, does not change the stability of position control.Through theoretical analysis and experimental results, verify the advantages and feasibility of this method. The method proposed in this paper accords with the trend of technology development of motion control bus and servo and explores for coordinated control The new route.