多軸運動系統之同步與循跡控制

Synchronous and Contouring Control for Multi-Axis Motion System

陳立業(Li-Yeh Chen)

指導教授 ： 陳金聖

國立臺北科技大學/機電學院/機電科技研究所/博士(2012年)

https://doi.org/10.6841/NTUT.2012.00059

摘要

多維度的機械系統中，多軸驅動所組成的結構是常見的，其結構關係可以是以串聯或是並聯的方式存在，因此系統規格指標不再僅只考量各軸之定位精度或各軸追蹤性能，更為重要的是在於各軸間的同步或同動循跡協調能力，因此本論文分別針對於多軸同步相關的龍門系統鑑別、多軸同步控制策略（第二章、第三章）與多軸同動循跡追蹤補償策略（第四章、第五章）加以研究，達成高速高精的多軸運動控制目的。
針對龍門結構系統模型我們提出一鑑別系統參數的流程與保證鑑別參數收斂之演算法，其特點為利用兩次實驗即可估測出適合用於控制用之準確系統模型參數，且因估測之輸入命令較為溫和，故較不會對含機構耦合之龍門系統產生破壞。於多軸同步控制研究中，提出一容易擴充使用之多軸同步誤差模型，並利用此模型發展一結合H-infinity強健控制理論的同步控制架構與同步控制器設計步驟，達成多軸同步誤差改善；多軸同動循跡主題，我們提出了兩種可用在不同應用場合的輪廓誤差補償策略： 1.) 結合H-infinity的多軸交叉耦合同動控制器與 2.) 輪廓誤差預視補償法。方法一為運用設計控制器的手法，達成各軸的動態協調，而方法二則採用即時修正命令技巧，達成誤差的修正。本論文所提之各演算法最後皆實現於不同之運動平台上，並得到良好的補償效果。

關鍵字

龍門系統鑑別 ； 多軸同步控制 ； 多軸同步誤差模型 ； 多軸同動循跡補償 ； 多軸交叉耦合同動控制器 ； 輪廓誤差預視補償

並列摘要

In the multi-axis mechanism, all axis are linked with synchronous or series configuration. Hence, the performance index of a multi-axis system is not only to improve the tracking performance of each axis, but also simultaneously consider the synchronous and contouring ability for the multi-axis. In this thesis, two multi-axis synchronous subjects (Chapter 2, 3) and two multi-axis trajectory control algorithms (Chapter 4, 5) are proposed to achieve high speed and high accuracy motion control for multi-axis motion system.
After build the model of dual-drive ball screw gantry system, a simple and accurate identification process and algorithm are presented and so does its convergence analysis. For synchronous control of a multi-axis system, a new cross-coupling synchronous controller (CCSC) structure using control scheme with compensation at its reference position command is presented, together with its stability analysis. This research adopts the concept of synchronous error transfer function matrix (SETFM) and the mixed sensitivity problem method to design the CCSC.
For multi-axis contouring control, there are two control strategies proposed to improve the contouring error. First, a new cross-coupling position command shaping control (CPCSC) structure using control scheme with compensation at its reference position command is also presented, together with its stability analysis. Although the compensated objects of CPCSC and CCSC are different, the control structure and controller design of CPCSC are similar to CCSC, therefore, all properties of CCSC can be inherited from CPCSC. In contrast, a look-ahead contouring error compensation (LACEC) is presented based on the prediction contouring error. It shapes the position commands of all axis in real-time before the original position commands are fed into the servo loops of the motion system. Finally, the proposed control strategies are all implemented on different motion systems to verify the performance. The experimental results show that our proposed control algorithms can individually improve the synchronous and contouring errors of multi-axis motion systems.

並列關鍵字

dual-drive ball screw gantry system ； cross-coupling synchronous controller ； cross-coupling position command shaping control ； look-ahead contouring error compensation

參考文獻

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