基于模糊PID的多类型轴同步运动控制技术研究

Research on the Synchronization Motion Control Technology Based on Fuzzy PID for Multi-type axis System

摘要:

在大型复杂设备中,存在着大量多轴联动或同步运动驱动机构。为提高多轴同步运动精度,对常用的同步控制模型进行了研究和分析,提出了以模糊PID控制算法为核心的主-从式与耦合式相结合的控制模型,并开展了双电机轴系统、双液压轴系统以及混合轴系统的建模仿真与试验分析。结果表明该控制方法不仅能够减小多轴同步系统的同步运动误差,还能有效减小外部干扰的影响。

Abstract:

There are a large number of multi-axis synchronization motion systems in the large and complex devices. In order to improve the synchronization motion precision of multi-axis system, the common synchronization control models were analyzed firstly. Then, a new control model which was based on the fuzzy PID control algorithm and the combine of master-slave model and coupling model was presented. At last, the simulation and test analysis of double-motor system, double-hydraulic system and mixed-axis system were done. The result showed that the control algorithm presented can efficacious decrease the motion error of multi-axis system and the influence of interference.