Cascade type iterative learning cross coupling control method for contour error of biaxial numerical control system

两轴数控系统的串级型迭代学习交叉耦合轮廓误差控制方法

Abstract

The invention relates to a cascade type iterative learning cross coupling control method for a contour error of a biaxial numerical control system, which comprises the following processes: determining the actual reference input quantities of both axes of the biaxial numerical control system, the equation of an X-axis following error and the equation of a Y-axis following error; deriving out the convergence condition of cascade type iterative learning control (ILC) by a formula (1), wherein the essential convergence condition of the cascade type ILC is as shown in a formula (2); and realizing contour error control through the formula (2). The invention provides the cascade type iterative learning cross coupling control method for the contour error of the biaxial numerical control system, which has good dynamic compensation and is capable of smoothing the contour error and improving the control performance.
一种两轴数控系统的串级型迭代学习交叉耦合轮廓误差控制方法,所述控制方法包括以下过程:确定所述两轴数控系统的两轴的实际参考输入量,X轴跟随误差的算式,Y轴跟随误差的算式,推导出串联型ILC的收敛条件,由式(1)得串联型式ILC的收敛必要条件为式(2);通过上式(2)实现轮廓误差控制。本发明提供一种具有良好动态补偿、平滑轮廓误差、提高控制性能的两轴数控系统的串级型迭代学习交叉耦合轮廓误差控制方法。

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