上海交通大学学报

上海交通大学学报 >

2023 , Vol. 57 >Issue 5: 593 - 600

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2021.456

电子信息与电气工程

非对称柔性支撑龙门双驱平台的解耦与同步控制

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  • 上海交通大学 自动化系；系统控制与信息处理教育部重点实验室；上海工业智能管控工程技术研究中心,上海 200240
位广宇(1997-),硕士生,从事高性能伺服与精密运动控制研究.

收稿日期: 2021-11-12

  修回日期: 2022-01-09

  录用日期: 2022-01-11

  网络出版日期: 2023-02-17

基金资助

上海市科技攻关揭榜挂帅项目(YDZX20213100003021);中国移动-教育部智能制造联合基金(MCM20180703)

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Decoupling and Synchronization Control of Asymmetric Flexure-Linked Dual-Drive Gantry Stage

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  • Department of Automation; Key Laboratory of System Control and Information Processing of the Ministry of Education; Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University, Shanghai 200240, China

Received date: 2021-11-12

  Revised date: 2022-01-09

  Accepted date: 2022-01-11

  Online published: 2023-02-17

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摘要

针对采用非对称柔性支撑结构的龙门双驱运动平台,提出基于模型补偿扩张状态观测器的解耦与同步控制策略.考虑柔性支撑结构特点和负载加速度对龙门平动、转动模态的影响,采用拉格朗日方程建立了龙门动力学模型.依据该模型设计平动和转动控制回路并采用带有已知耦合项补偿的扩张状态观测器,估计并抑制由建模误差和未知耦合项等因素组成的总扰动.试验结果表明,该控制框架与解耦策略能有效解除双驱动轴间的动态耦合并抑制扰动,显著提升龙门试验台的动态响应和同步精度,且具有部署简单、所需测量模型参数少等优点.

关键词： 非对称柔性支撑; 龙门双驱运动平台; 解耦; 同步控制; 扩张状态观测器

本文引用格式

位广宇, 谷朝臣, 杨舒盛, 关新平 . 非对称柔性支撑龙门双驱平台的解耦与同步控制[J]. 上海交通大学学报, 2023 , 57(5) : 593 -600 . DOI: 10.16183/j.cnki.jsjtu.2021.456

Abstract

A decoupling and synchronization control strategy based on a model-compensated extended state observer is proposed in control of a dual-drive gantry positioning stage with asymmetric flexure-linked structures. A gantry dynamic model considering the features of the flexure-linked structures and the impact of load acceleration is built using Lagrangian equations. Translational and rotational control loops are designed according to this model, while extended state observers with compensation of known coupling items in the model are deployed in each control loop to estimate and attenuate the total disturbances composed of unmodeled dynamics, unknown couplings, etc. The experimental results show that the proposed control strategy, which is simple to realize and requires few parameters to be measured, can effectively decouple the dynamics of dual axes and attenuates disturbances, greatly improving the dynamic response and synchronization accuracy of the gantry stage.

Key words： asymmetric flexure-linked structure; dual-drive gantry positioning stage; decoupling; synchronization control; extended state observer

参考文献

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