Research On Trajectory Method Of Two-axis Linear Motor Based On Contour Error Controller

Linear motors are widely used in today’s production activities due to their high direct thrust and high positioning accuracy.The multi-axis machine tool processing system formed by the linear motor unit provides strong support for further improving the machining accuracy of parts and speeding up production efficiency.This dissertation takes the iron-core permanent magnet synchronous linear unit with dual-axis "cross-shaped" structure as the research object,and mainly designs a dual-axis linear motor control system based on the contour error controller.Through the design of the control algorithm,the adverse effects of interference factors on the system during the operation are suppressed,while the response speed is improved,and the tracking accuracy for the task of following the contour is further improved.The main research content of this article is as follows:1)First,the current application fields and future application prospects of linear motors are introduced,and related researchers are quoted on the current research status of linear motor control algorithms.On this basis,the main research content and algorithm design characteristics of this article are explained.2)According to the movement characteristics of the linear motor and its electromagnetic characteristics,a mathematical model based on the movement process of the single-axis permanent magnet synchronous linear motor is derived.And considering the structural characteristics of the dual-axis linear motor unit system and the disturbance factors it faces,a mathematical model based on the dual-axis linear motor unit control system is proposed.3)In order to improve the control performance of the linear motor controller,an adaptive sliding mode linear motor single-axis position control strategy based on fuzzy approximation is proposed.The sliding model control structure can accelerate the system convergence process,and the fuzzy approximation mechanism combined with the sliding mode system belongs to an indirect adaptive algorithm structure.Through the approximation calculation of the disturbance,the system state can be dynamically adjusted to output the adaptive compensation value.It can effectively suppress the disturbance.4)Since only the absolute position error of the single-axis linear motor cannot fully obtain the contour tracking of the overall system,a contour error calculation method with a small amount of calculation is proposed,and the contour error control is designed according to the calculated error.The controller can analyze the contour tracking situation as a whole and output the contour error compensation value to the system to further improve the overall contour tracking accuracy.5)In order to verify the effectiveness of the designed dual-axis linear motor control strategy based on the contour error compensator,the single-axis absolute position reach experiment and the dual-axis system coordination were designed on the "cross-shaped" dual-axis permanent magnet synchronous linear group.The following given contour tracking experiment,through experimental verification and comparative analysis on the experimental prototype,proves the effectiveness of the designed algorithm.It also provides valuable experience for the next step to continue to improve the quality of control.