Technique Of Compensation And Parameter Calibration For High-speed And High-precision Motion Control

With the rapid development of modern manufacturing, high-speed,high-precision become the main objectives which are pursued by the modern motion control. Carrying out high speed and high precision motion control research enhances the level and competitiveness of the manufacturing of digital equipment, and has great significance. This paper will focus the in-depth study on technique of compensation and parameter calibration for high-speed and high-precision motion control.The combined movement is generated by the linear motor and the spindle motor of the table of CNC. In order to meet high speed,high precision and multi-degree motion performance, the control is more rigid,multivariable,strong coupling of the nonlinear system control. In this regard, to meet high-speed and high-precision motion control based on system performance requirements, the hardware system and software architecture have been designed. Among them, the system hardware adopts IPC+8136 card structure based on PCI bus.The main software includes human-machine interface, task scheduling, buffer exchange of information, interpolation processing, and position control. For "turning point" problems of a small segment in the processing of complex curves and surfaces, better use of flexible S-curve acceleration and deceleration control to prevent the impact during movement. The establishment of link-up model in small line speed and acceleration during high-speed machining, and velocity and acceleration constraints of continuous small line at the inflection point was analysed. Meanwhile, speed interpolation pretreatment of small line was used to meet the high-speed and high-precision motion control requirements.With the study of common motion control structure, and the external disturbance factors of accuracy, servo motion control structure has been designed for meeting high-speed and high-precision, also the key technologies have been studyed in depth.For the non-ideal factors of the drive system, feedforward compensation and calibration technique of trajectory point were proposed, including the calibration algorithm of the quality feedforward and delay factor feedforward, and get acceleration feedforward calibration process, greatly improving speed response characteristics of control systems. The inevitable existence of mechanical resonance during the motion of machine, was inhibited by the calculating of the system transfer function,the analysis of system performance evaluation and the design of NOTCH filter parameters, which improve the processing accuracy. Inhibition of high-frequency noise and improvement of system stability are fulfilled by adopting PID feedback controller with low-pass filter of second-order, and modification of the PID control parameter with the sensitivity constraint based on a minimum integral error. The calibration and the compensation of cogging servo motor fluctuations , which reduce the affection on motion accuracy, has been proposed with the study on the generating mechanism of servo motor Cogging force / torque.Finally, test platform based on technique of compensation and parameter calibration for high-speed and high-precision motion control has been build. The PID regulator,NOTCH filter,S-curve acceleration and deceleration of small line interpolation algorithm validation have been tested. Experiments show that the method is feasible and effective.