摘要
本文研究了具有重复任务性质的网络化运动控制系统高精度轮廓跟踪控制问题。首先,分析了网络时延给系统带来的影响,基于自抗扰控制设计了单轴跟踪控制器,将时变时延带来的不确定性建模为系统总和扰动的一部分,设计扩张状态观测器对总和扰动进行估计,并在前馈通道中对其进行补偿,消除时变时延影响,得到稳定的单轴跟踪控制。其次,基于迭代学习交叉耦合控制设计了轮廓误差补偿控制器,实现高精度轮廓跟踪控制。最后,通过实验验证了所提方法的有效性。这种控制方法在设计过程中不依赖于系统模型信息,为网络化运动控制系统轮廓跟踪控制方法的研究及应用提供了一种新的思路。
This paper investigates a novel control scheme for high precision contour tracking control of networked motion control systems with repetitive task.First,the effect of delays on the system is analysed,and a single-axis controller is designed based on active disturbance rejection control (ADRC) technique,the uncertainties caused by time-varying delays are modeled as bounded disturbance and the extended state observer is utilized to estimate the total disturbance.Then,after the disturbance is compensated,the stable tracking control of single-axis is achieved.In addition,for improving the contour tracking performance furtherly,the iterative learning method based contour error compensation controller is proposed.Finally,experiments are performed to verify the feasibility and effectiveness of the proposed approach.This control scheme is easy to implement and provides a new insight and instruction for the industry application of networked motion control systems.
作者
吴祥
王军晓
王瑶为
董辉
俞立
Wu Xiang;Wang Junxiao;Wang Yaowei;Dong Hui;Yu Li(College of Information Engineering,Zhejiang Provincial United Key Laboratory of Embedded Systems,Zhejiang University of Technology,Hangzhou 310023)
出处
《高技术通讯》
EI
CAS
北大核心
2018年第9期835-842,共8页
Chinese High Technology Letters
基金
NSFC-浙江两化融合联合基金(U1709213)
浙江省自然科学基金(LZ15F030003)
重庆邮电大学工业物联网与网络化控制教育部重点实验室开放基金(2018FF03)资助项目
关键词
网络化运动控制
时变时延
自抗扰控制(ADRC)
迭代学习控制
轮廓跟踪
networked motion control systems
time-varying delays
active disturbance rejection control (ADRC)
iterative learning control
contour tracking
作者简介
吴祥,男,1990年生,博士生;研究方向:网络化运动控制;E-mail:522212309@qq.com;通信作者:俞立,E-mail:lyu@zjut.edu.cn
