摘要
针对轨迹跟踪的轮廓误差补偿算法的缺陷,研究了交叉耦合控制算法、局部任务坐标系、全局任务坐标系等控制算法,进行了详细的理论计算与推导.以两轴联动装置作为研究载体,对这两种补偿算法在交叉耦合控制领域的应用进行了深入对比分析与探讨.基于Matlab/Simulink进行了计算机仿真,结果显示,在低速圆形轮廓跟踪下局部任务坐标系算法效果良好,而在高速和大曲率的椭圆轮廓轨迹跟踪下,全局任务坐标系算法比局部任务坐标系算法具有明显优势.
For contour defect tracking error compensation algorithm, the control algorithms such as cross coupling control algorithm, local coordinate algorithm, the global tasks coordinate algorithm etc. were studied, the detailed theoretical calculation and derivation were done. The in-depth analysis and discussion of the two compensation algorithms in the application of cross coupling control field were given by using two-axis device as a carrier. Based on Matlab/Simulink computer simulation, the results showed that under the condition of low- speed circular trajectory tracking, the local tasks coordinate algorithm worked well, while under a high-speed circular trajectory tracking, the global tasks coordinate algorithm had a significant advantage over the local coordinate algorithm.
出处
《信阳师范学院学报（自然科学版）》
CAS
北大核心
2016年第1期116-119,共4页
Journal of Xinyang Normal University(Natural Science Edition)
基金
广东省数控一代机械产品创新应用示范工程专项资金项目(2013B011301028)
关键词
轨迹跟踪
传统交叉耦合控制
全局任务坐标系
仿真对比
trackingl traditional cross-coupling control
global task coordinate system
simulation comparison
