非正交多轴机电伺服系统空间轮廓误差形成机理及控制策略

项目名称： 非正交多轴机电伺服系统空间轮廓误差形成机理及控制策略

项目编号： No.51465005

项目类型： 地区科学基金项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 潘海鸿

作者单位： 广西大学

项目金额： 48万元

中文摘要： 随着多轴机电伺服运动系统的广泛应用，如何实现对多轴机电装备的高速高精运动控制是高端装备制造业所面临的重要挑战之一。本项目以多轴机电伺服运动系统为研究对象，旨在突破减小多轴机电伺服系统运动过程中由单轴跟踪误差和多轴协调同步误差综合引起的空间轮廓误差这一难题。具体为(1)以轴为基本控制单元，构建具有强鲁棒性和足够带宽的单轴闭环运动控制系统；探索单轴闭环系统模型误差、非建模误差对跟踪误差的影响。(2)将交叉耦合控制(CCC)思想引入非正交多轴机电伺服系统的协调同步运动控制策略中，探究非笛卡尔坐标系下单轴跟踪误差和同步误差对轮廓误差形成机理，建立轮廓误差数学模型及实时估计策略；(3) 进行轮廓误差直接反馈控制理论研究，建立协调同步运动的控制模型，形成非笛卡尔坐标空间CCC控制算法。(4)基于Lypaunov稳定性理论对非笛卡尔坐标空间CCC控制算法进行鲁棒性分析并通过实验验证其有效性。

中文关键词： 数控技术；复杂曲面；制造执行系统；智能控制

英文摘要： With the extensive application of multi-axis electromechanical servo motion control systems, to achieve high-speed and high-precision motion control of multi-axis electromechanical equipments has become one of the great challenges for advanced manufacturing equipment industry. The research objective of this project is the multi-axis electromechanical servo motion system, aiming at overcoming the technical difficulties, namely, reducing spatial contour error combined with tracking error of single axis and synchronization error of multi-axis. Specifically, (1) Build a closed-loop motion control system model for each single-axis with strong robustness and enough bandwidth, each axis being treated as a control unit. Explore the impact of modeling error and non-modeling error on tracking error, respectively; (2) Introduce the idea of cross-coupled control (CCC) into the control strategy of coordinated synchronized motion for the non-orthogonal multi-axis electromechanical servo motion control systems. Explore the formation mechanism of the contour error in a non-Cartesian Coordinate, which relies on the tracking error of single axis and the synchronization error of multi-axis. Then construct a mathematical contour error model and develop a real-time estimation strategy. (3) Conduct research on the direct feedback control theory of contour error and establish a coordinated synchronized motion control model, followed by the presentation of a non-Cartesian CCC Algorithm. (4) Analyze the robustness of the new Algorithm and verify its effectiveness by experiments.

英文关键词： CNC technology;Complex surface;Manufacturing Execution Systems;Intelligent Control