引用本文:陈炜,刘旭,史婷娜,夏长亮.双轴联动系统广义预测交叉耦合位置控制[J].控制理论与应用,2018,35(3):399~406.[点击复制]
CHEN Wei,LIU Xu,SHI Ting-na,XIA Chang-liang.Generalized predictive cross-coupling position control of biaxial motion system[J].Control Theory and Technology,2018,35(3):399~406.[点击复制]
双轴联动系统广义预测交叉耦合位置控制
Generalized predictive cross-coupling position control of biaxial motion system
摘要点击 2333  全文点击 1052  投稿时间：2017-04-12  修订日期：2017-10-25
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DOI编号  10.7641/CTA.2017.70248
  2018,35(3):399-406
中文关键词  永磁电机  双轴联动  广义预测交叉耦合控制  轨迹跟踪
英文关键词  permanent magnet motors  biaxial motion system  generalized predictive cross-coupling control  trajectory tracking
基金项目  国家自然科学基金重大项目(51690180), 国家自然科学基金项目(51377121, 51777135)资助.
作者单位E-mail
陈炜* 天津大学电气自动化与信息工程学院 chen_wei@tju.edu.cn 
刘旭 天津大学电气自动化与信息工程学院  
史婷娜 天津大学电气自动化与信息工程学院  
夏长亮 天津大学电气自动化与信息工程学院  
中文摘要
      在双轴联动系统中, 减小轮廓误差和提高轨迹跟踪的能力是位置控制的主要目标. 为提高轨迹跟踪的稳态 精度和动态性能, 本文提出了双轴广义预测交叉耦合控制策略(generalized predictive cross-coupling control, GPCCC). 首先将广义预测算法应用于双轴联动控制中, 根据已知轨迹进行多步预测、滚动优化和反馈校正来提高双轴控制 性能, 其次采用交叉耦合结构将轮廓误差作为反馈量来修正广义预测控制的给定轨迹. 最后, 通过两台永磁同步电 机驱动的双轴联动系统完成实验, 实验效果证明了所提出的控制策略在保证轨迹跟踪精度的同时, 可以有效提高动 态响应速度, 尤其在轨迹转折点处, 相比于传统PID交叉耦合结构, 可以明显减小轮廓误差.
英文摘要
      In the biaxial motion system, the main objective of position control is to reduce the contour error and improve trajectory tracking capability. In the paper, a generalized predictive cross-coupling control strategy(GPCCC) is proposed for the steady-state accuracy and dynamic performance. First of all, the generalized predictive algorithm is applied to the biaxial control. The biaxial performance to track the given trajectory can be improved by the procedures of multi-step prediction, rolling optimization and feedback correction. And then the contour error is taken as the compensation component in the cross-coupling structure to correct the given trajectory of the generalized predictive control. The experiment is carried on a biaxial motion system driven by two PMSMs. The results show that the proposed control strategy can guarantee the trajectory tracking accuracy and the dynamic response speed, especially at the turning point, the contour error is obviously smaller than that of traditional PID cross-coupling position control.