Research On High Speed Trajectory Planning And High Precision Tracking Control

In the modern industrial CNC motion control,AC servo control system has an irreplaceable position.It is widely used in industrial robots,high precision CNC machines and other high-precision motion control machines.And in the process of industrial NC machining,the position servo control system requirements are also getting higher and higher.Must have high speed response,smooth operation and high positioning accuracy.Therefore,the study of AC servo system's real-time and synchronization,control accuracy has great practical significance.In this paper,we focus on the key technologies of three-axis high-speed servo system on computerized embroidery machine in garment production.Through the analysis of the embroidery machine servo control system in the high-speed operation of the response speed,positioning accuracy and stable operation requirements.The theoretical analysis and simulation research are made on the parameter design of the AC servo system controller,the change of the load parameter value and the adaptive design of the servo system.Comprehensive control strategies and methods including pattern trajectory planning,high speed feed forward trajectory correction and adaptive load compensation are proposed.First of all,in the detailed analysis of computer embroidery machine in the embroidery of the three axis high speed machining coordinate based on the trajectory of the servo system for rational planning.Through the research of common track acceleration and deceleration control strategy.According to the operating mechanism of the computerized embroidery machine servo system,a smooth and minimal acceleration sinusoidal acceleration and deceleration planning control strategy is proposed.Achieve high-speed traj ectory stability.Secondly,under the framework of three closed-loop position servo control system of PMSM.Combining traditional feed forward control theory,In order to overcome the traditional servo control in response delay,control complexity and engineering application difficult to achieve adverse effects,A feed forward compensation correction control strategy based on system model is proposed,This method is compatible with high-speed trajectory planning to achieve a smooth and error-free high-speed tracking positioning function of the position servo system.Finally,according to the actual figure of different computer embroidery machine head number and different frame size requirements,Analysis of motor inertia on the entire system.On the premise of not increasing the sensor,a correction algorithm is put forward by using the relationship between the system response error and the inertia of the actual motor,Adaptive correction of parameters in a given compensation feed forward correction control model,The control robustness of the system is improved comprehensively,the validity of the new given feed forward correction compensation is verified,and the realization method of the given feed forward correction compensation is explored.In this paper,the method of MATLAB/simulink simulation experiment is introduced.The correctness and effectiveness of the proposed sinusoidal trajectory planning,the new compensation feed forward correction control strategy and the adaptive tracking control scheme are verified by the simulation experimental data,which has a good reference value for engineering applications.