Study on Multi-axial Preview Path Control System

多轴预览路径控制系统的研究

基本信息

批准号：
13650259
负责人：
EGAMI Tadashi
金额：
$ 2.62万
依托单位：
Kanagawa University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2001
资助国家：
日本
起止时间：
2001 至 2003
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650259/
关键词：
Path control Preview control Coordinate transformation Expansion of axis NC milling machine Two wheeled vehicle 軸伸縮変換軸伸縮ゲイン成分位相成分

项目摘要

I have proposed a new path control method with vector decomposition in this study. In the study, a motion equation of multiaxial systems in an orthogonal coordinate system was transformed into a rotational coordinate system whose axes were expanded. Then, an arbitrary curve path could be transformed into the unit circle or straight line path using the transformations. The transformed motion equations could be decoupled and decomposed into a gain component and a phase component. Both the gain component and the phase component control system were constructed independently. In the transformed area, the desired value of the gain component became constant and the gain component error was equal to the path error which could converge to zero by using 1-type controller. The effect of disturbances were absorbed by the phase component control system and the path error was little disturbed. In the method, essential path control could be realized using unity control coefficient over a wide range, from the desired open curve path to the curve path.I have also extended the proposed method to 3-dimentional space. I have applied these methods to multi-axis linear motor tables, and confirmed the effectiveness experimentally. I have also applied the proposed methods to practical systems such as NC Bench milling machines, two or three wheeled vehicles, force displays and so on, and examined these practical utility.

在这项研究中，我提出了一种新的路径控制方法，其中矢量分解。在研究中，将正交坐标系中多轴系统的运动方程转换为旋转坐标系，其轴被扩展。然后，使用转换可以将任意曲线路径转换为单位圆或直线路径。可以将转换的运动方程式分解为增益分量和相分量。增益组件和相组件控制系统均独立构建。在变换的区域中，增益组件的所需值变为恒定，增益组件误差等于路径误差，该路径误差可能通过使用1型控制器会收敛到零。相位组件控制系统吸收了干扰的效果，并且路径误差几乎没有干扰。在该方法中，从所需的开放曲线路径到曲线路径可以使用统一控制系数实现基本路径控制。我还将所提出的方法扩展到了三维空间。我已将这些方法应用于多轴线性运动表，并通过实验确认了有效性。我还将所提出的方法应用于NC台式机，两到三辆轮毂车辆，强制显示等实用系统，并检查了这些实用性。