Suppression Of Positioning Vibration For Two-axis Servo System Based On Drive Control Integration

The X-Y two-axis linkage servo system is widely used in the modern manufacturing industry,but the mechanical transmission between the servo motor and the actuator is not sufficiently rigid,so position vibration occurs at the end of the actuator during quick start or positioning.The existence of the position vibration not only makes the point-to-point motion accuracy lower,but also causes the trajectory tracking motion to generate a contour error.Therefore,it is of great significance to study the position vibration problem of the X-Y two-axis linkage system.In this paper,the X-Y two-axis linkage system is firstly modeled.The X-axis and Y-axis are independent of each other,that is to say,there is no coupling characteristic between them.The modeling of the two-axis linkage system is transformed into the modeling of the single-axis system.A system model named moto-load double inertia is proposed.The determinants of the formation of the position vibration and the frequency of the position vibration are analyzed.The definition of tracking error and contour error is clear.Unlike single-axis control,which pursues high dynamic performance to reduce tracking error,two-axis linkage control pays more attention to contour error.There is no direct logical relationship between contour error and single-axis tracking error.The second,the vibration suppression algorithm based on input shaping is proposed.The three input shaping algorithms of ZV method,zero vibration and derivative input shaper(ZVD)and EI method(extra insensitivity input shaper,EI)are compared in terms of suppression effect,time lag and robustness in different case of load inertia.Taking the circular trajectory as an example,the simulation model is built in Matlab.The effects of the vibration suppression algorithm on the contour error are analyzed for the uniform and inconsistent buffeting frequency of the X-axis and the Y-axis.Then,when the X-axis and Y-axis parameters are inconsistent,the addition of the vibration suppression algorithm will cause the circular arc trajectory to be distorted and become an elliptical trajectory.A contour error compensation strategy based on the evaluation function is proposed,and the X-axis is automatically adjusted according to the value of the evaluation function.The speed feedforward coefficient of the Y-axis and the two axes re-synchronize and reduce the trajectory distortion.The simulation verifies the effectiveness of the above algorithm.Finally,on the X-Y two-axis linkage experimental platform,the X-axis and Y-axis motors are driven simultaneously by the drive-controlled integrated controller.By tracking the typical circular trajectory,the two-axis linkage position vibration phenomenon is reproduced,and the vibration suppression is added.The trajectory distortion caused by the suppression algorithm is verified,and the validity of the contour error compensation algorithm based on the evaluation function is verified.