In the process of the operation of the high-speed large-stroke circular slide system,the circular orbit curve and the rail paragraphs connection issue causes series of questions,like the operation process of load truck is unstable,the response rate is not fast,and the positioning error of the terminal position is large,and so on.A set of double-track mechanical sliding structure was designed,w hich could effectively improve the stability of the truck.As the aspect of the control system,the position loop adopted feedforward control,to improve the accuracy of motor control system combined with PID control.The mathematical model of the circular slide platform was es-tablished,a simulation model based on feedforward control in MATLAB simulation environment was established,and the experimental platform was built according to the simulation model.The results of the simulation experiment showed that,without feedforward control,the range of tracking error was [-0.4 0.4]mm,and the range of tracking error was [-0.18 0.18]mm after the introduction of feedforward control.It could be calculated and concluded that after the intro-duction of feedforward control,the tracking accuracy of the system was increased by 1.2 times and the response rate of the system was increased by 16.7%.It was shown that under the condi-tion of feedforward control the theoretical position error of the truck could maintain at [0.2 0.2] mm by the experimental results and the actual position error of the truck was 0.69 mm.Both er-rors were less than 1 mm which was the design required,and the system had a fast response speed.The research results provide effective reference data for the mechanical design scheme and performance testing process of the sliding rail system.At the same time,the results will promote the industrial automation of the rail system test.%针对高速大行程圆弧滑轨系统运行时,受圆弧轨道弧度和轨道段连接问题的影响,负载小车运行不稳定、响应速度不快、末端位置定位误差大的问题,设计了一套双轨式机械滑动结构,以提高小车运行稳定度.在控制系统方面,位置环采用前馈控制,结合PID控制提高了电机的控制精度.建立了圆弧滑轨平台的数学模型,在M A T-LAB仿真环境中建立了基于前馈控制的仿真模型,并搭建了实验平台.仿真实验结果表明:在无前馈控制的情况下,跟踪误差范围为[-0.4,0.4]mm,引入前馈控制后,跟踪误差为[-0.18,0.18]mm,系统跟踪精度提高了1.2倍,系统响应速度提高了16.7%.实验结果表明:在前馈控制条件下,小车理论位置误差保持在[-0.2,0.2]mm,实际位置误差为0.69 mm,均小于设计所要求的1 mm,并且系统具有较快的响应速度.研究结果为滑轨系统的机械设计和性能测试提供了有效的参考数据,可促进轨道系统测试的工业自动化.
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