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; 范大鹏

doi:doi:10.3788/ope.20182612.2971

光学精密工程, 2018, 26 (12): 2971, 网络出版: 2019-01-27

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

论文大纲

祁超谢馨陈凌宇范世珣范大鹏

作者单位

国防科技大学智能科学学院, 湖南长沙 410007

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.

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祁超, 谢馨, 陈凌宇, 范世珣, 范大鹏. 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. QI Chao, XIE Xin, CHEN Ling-yu, FAN Shi-xun, FAN Da-peng. S-curve trajectory planning and high-precision control of precision servo turntable[J]. Optics and Precision Engineering, 2018, 26(12): 2971.

精密转台S曲线轨迹规划及高精度控制

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