Contour Control For Direct Drive XY Table Based On Wavelet Fuzzy CMAC

High speed, high precision is an important research direction of the current numericalcontrol technology. In the light of permanent magnet linear synchronous motor direct driveXY table system, load disturbances, model uncertainty, biaxial mismatch, the systemuncertainties can affect the contour precision of the system. The contour control system fordirect drive XY table based on wavelet fuzzy cerebellar model articulation controller is studied.Not only solved the problem is discussed above, and it lays the theoretical foundation for theresearch of intelligent control of multi axis coordinated control system.Firstly, based on consulting a large number of references at home and abroad, analysesthe development situation of home and abroad of contour control system for direct drive XYtable. Describing the three main control methods of permanent magnet linear synchronousmotor, they are the traditional control method, the modern control method and the intelligentcontrol method respectively. On this basis, introduces the working principle of permanentmagnet linear synchronous motor and the mathematical model of the direct drive XY table indetail. And analyzes contour error model of straight line, circle and arbitrary input trajectoryfor the direct drive XY table.Then, aiming at the problems of load disturbance, biaxial parameters mismatch, designcontour control for direct drive XY table based on fuzzy cerebellar model articulationcontroller. The fuzzy cerebellar model articulation controller is the cerebellar modelarticulation controller combined with fuzzy logic, it is fuzzified when it is in the division ofspace and the activation of associative strength, and the fuzzy cerebellar model articulationcontroller can well reflect the fuzziness and continuity of human brain. Fuzzy cerebellar modelarticulation controller has the strong ability of self-learning and nonlinear approximation, itcan suppress the load disturbance timely, cross-coupling control weakens the influences ofbiaxial parameters mismatch. We use Matlab/Simulink to complete modeling and simulationanalysis of the controller.Finally, due to the time-frequency localization characteristics of wavelet transform isvery good, and the multi-features, which makes the wavelet fuzzy neural network has strongerability of self-learning, thus has strong ability of approximation and tolerance. In order to restrain the load disturbance, biaxial parameters mismatch and the influence of periodiccontour error, designing contour control system for direct drive XY table based on waveletfuzzy cerebellar model articulation controller. We use orthogonal code wavelet functioninstead of sigmoid function as the basis function of fuzzy cerebellar model articulationcontroller, called it wavelet fuzzy cerebellar model articulation controller, it has theadvantages of wavelet transform, fuzzy control and cerebellar model articulation controller,and it can restrain the influence of load disturbance on the contour accuracy. Cross-couplingcontrol weakens the biaxial parameters mismatch and periodic contour error on the contouraccuracy effectively. We use Matlab/Simulink to complete modeling and simulation of thecontroller. And it compared with the simulation results of contour control for direct drive XYtable based on fuzzy cerebellar model articulation controller. It proves that the contour controlfor direct drive XY table based on wavelet fuzzy cerebellar model articulation controller hashigher control precision.