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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Coordinated Adaptive Robust Contouring Controller Design for an Industrial Biaxial Precision Gantry
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Coordinated Adaptive Robust Contouring Controller Design for an Industrial Biaxial Precision Gantry

机译：工业双轴精密龙门的协调自适应鲁棒轮廓控制器设计

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摘要

To achieve excellent contouring performance, it is no longer possible to neglect dynamic coupling phenomena that occur during contouring controls, especially for a linear-motor-driven industrial biaxial precision gantry, which often moves at high speeds. In addition, effects of significant parametric uncertainties and uncertain nonlinearities need to be addressed carefully. In this paper, a discontinuous-projection-based adaptive robust controller that explicitly takes into account the dynamic coupling effect is developed for the high-performance contouring controls of linear-motor-driven high-speed/acceleration systems under various parametric uncertainties and uncertain nonlinearities. Theoretically, the resulting controllers achieve certain guaranteed transient performance and steady-state tracking accuracy. In addition, asymptotic output tracking is achieved under parametric uncertainties only. Comparative experimental results are obtained for a linear-motor-driven biaxial high-speed industrial gantry. The results verify the excellent contouring performance of the proposed schemes, even in the presence of parametric uncertainties and uncertain nonlinearities.
机译：为了获得出色的轮廓加工性能，不再可能忽略轮廓加工控制过程中出现的动态耦合现象，尤其是对于线性电机驱动的工业双轴精密龙门架，该龙门架经常高速运动。此外，需要仔细解决重大参数不确定性和不确定非线性的影响。在本文中，针对各种参数不确定性和不确定性非线性的线性电动机驱动的高速/加速系统的高性能轮廓控制，开发了一种明确考虑动态耦合效应的基于不连续投影的自适应鲁棒控制器。 。从理论上讲，最终的控制器可达到一定的保证瞬态性能和稳态跟踪精度。此外，仅在参数不确定性下才能实现渐近输出跟踪。获得了线性电动机驱动的双轴高速工业龙门的对比实验结果。结果证明，即使存在参数不确定性和不确定性非线性，该方案也具有出色的轮廓绘制性能。

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