精密转台S曲线轨迹规划及高精度控制

祁超; 谢馨; 陈凌宇; 范世珣

doi:10.3788/OPE.20182612.2971

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精密转台S曲线轨迹规划及高精度控制

微纳技术与精密机械 | 更新时间：2020-07-05

- 精密转台S曲线轨迹规划及高精度控制
- S-curve trajectory planning and high-precision control of precision servo turntable
- 光学精密工程 2018年26卷第12期页码：2971-2981
- 作者机构：
  
  国防科技大学智能科学学院, 湖南长沙 410007
- 作者简介：
  
  [ "祁超(1990-), 男, 江苏靖江人, 博士研究生, 2011年于华东理工大学获得学士学位, 2014年于国防科技大学获得硕士学位, 主要从事机电伺服系统动力学建模及高性能运动控制方面的研究。E-mail:nudtqichao@126.com" ]
- 基金信息：
  
  国家973重点基础研究发展计划资助项目(No.2015CB057503)
- DOI：10.3788/OPE.20182612.2971
  中图分类号： TP273.3
- 收稿日期：2018-03-12，
  
  录用日期：2018-5-4，
  
  纸质出版日期：2018-12-25
- 稿件说明：
移动端阅览
祁超, 谢馨, 陈凌宇, 等. 精密转台S曲线轨迹规划及高精度控制[J]. 光学精密工程, 2018,26(12):2971-2981.

Chao QI, Xin XIE, Ling-yu CHEN, et al. S-curve trajectory planning and high-precision control of precision servo turntable[J]. Optics and precision engineering, 2018, 26(12): 2971-2981.
祁超, 谢馨, 陈凌宇, 等. 精密转台S曲线轨迹规划及高精度控制[J]. 光学精密工程, 2018,26(12):2971-2981. DOI： 10.3788/OPE.20182612.2971.

Chao QI, Xin XIE, Ling-yu CHEN, et al. S-curve trajectory planning and high-precision control of precision servo turntable[J]. Optics and precision engineering, 2018, 26(12): 2971-2981. DOI： 10.3788/OPE.20182612.2971.

摘要

为提升精密转台的轨迹运动精度，本文从轨迹规划和运动控制两个方面对传统控制算法进行了改进。轨迹规划方面，推导了S曲线轨迹规划方程，并结合转台动力学约束条件给出了轨迹规划参数的取值方法，从而为运动控制算法提供了满足动力学要求的轨迹指令；运动控制方面，在传统双闭环反馈控制基础上增加了DOB扰动补偿和前馈补偿，以此改善转台的伺服性能，提升转台的运动精度。在详细说明了轨迹规划算法和运动控制算法的设计过程后，对两部分算法进行综合，给出了具体实现步骤，并以谐波转台和RV转台为实验对象进行了多组算法性能测试。实验结果表明：相比于传统控制方法，采用本文提出的方法能够使转台动态精度提升99.6%，稳态精度提升99.75%，从而证实了该算法对运动精度提升的有效性。

Abstract

Trajectory accuracy is an important performance indicator for precision turntables. To improve the motion accuracy

this study improves the traditional control algorithm from the perspective of trajectory planning and motion control. For trajectory planning

the S-curve trajectory planning equations are deduced

and the trajectory planning parameter values are given in combination with the dynamic constraints of the turntable. This provides the motion control algorithm with trajectory commands that meet the dynamic requirements. For motion control

on the basis of traditional double closed-loop feedback control

DOB disturbance compensation and feedforward compensation are added to improve the servo performance and motion accuracy of the turntable. After describing the design process of the trajectory planning and motion control algorithms in detail

the two algorithms are integrated

and the specific implementation steps are provided. The performance tests of the multiple groups of algorithms are performed using the harmonic turntable and the RV turntable. The experimental results show that

compared with the traditional control methods

the proposed method can significantly improve the dynamic accuracy of the turntable

thus verifying the effectiveness of the algorithm in improving the motion accuracy.

关键词

Keywords

references

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