Rearch On Multi-axis Motion Control System Based On Iteration Learning Cross-coupled Control

In order to meet the increasing production requirements,multi-axis motion control system is becoming the mainstream of the development of the manufacturing in today's society.The mismatch of the parameter problem between the axis in the multi-axis motion system,which will cause the increasing of contour error.In the traditional method of servo control system mainly to deal with these problems by improving the mechanical error,but due to its limitations,they are not able to effectively solve the problems.For the problem that the contour error is big in the multi-axis motion control system,the paper takes the two-axis motor system as the research object,and analyzes the main factors that cause these errors.On this basis,proposing cross coupling control algorithm based on iterative learning control.Through this kind of control algorithm,it can reduce the contour error and improve the control precision.Firstly,this paper introduces some common control methods of the single-axis motion control system and multi-axis motion control system.It makes a preliminary analysis of its research status at home and abroad.By analyzing the error of the two-axis motion system,and getting a preliminary solution according to different error types.In order to control of contour error better,the mathematical model of the contour error is established.Secondly,in view of the two axis servo motion control system,the paper analyzes the structure and working principle of the servo system,and establishes the mathematical model of AC servo system.On this basis,in view of the single axis,in order to reduce the tracking error,iterative learning control algorithm is designed to improve the control precision of the single axis.Finally,combining the idea of cross-coupling,iterative learning cross-coupled algorithm is designed.It combines the advantages of each algorithm,not only through iteration to decreases the effect of single axis tracking error,and by means of coupling factors to improve the matching of parameters between axis.By the way,it can reduce the contour error of the trajectory and can improve the control precision of the system.In the paper,through the theoretical analysis of the contour error in the two axis motion control system,the methods to reduce the contour error and improve the control precision in the motion control system are studied.The results of simulation indicate that the proposed control algorithm is feasible in terms of error control,and it lays a certain foundation for practical applications.