Research On Contour Trace Algorithm Of X-Y Linear Motor Platform

The high-precision numerical control processing equipment has always been the strategic goal of key research and development in various countries,among which the research on the linear motor contour tracking control algorithm is another important link.Aiming at the problem of the general control performance of the contour tracking algorithm currently designed and the complex design of the controller,a design method based on variable gain cross-coupled sliding mode control is proposed,which mainly includes the following parts:In this paper,the physical model and the kinematics model of the XY axis of the experimental platform are firstly combined with the experimental platform.The physical model of the linear motor was established by analyzing the difference between the structure of the linear motor and the rotary motor,analogy and AC permanent magnet rotary servo motor to establish the physical model of the motor.Secondly,the linear motor is subjected to force analysis,and the kinematics model of the linear motor is established using Newton's second law.Finally,the expressions of the time domain model and the frequency domain model of the linear motor are obtained through simplified analysis.As the main research object in this paper is the linear motor contour tracking control,the following is the main research and analysis of the principle of the formation of the conventional tracking contour.Through analysis and design,the mathematical expressions of the straight line profile,the standard arc profile,and the arbitrary curve profile tracking are obtained.Through mathematical expressions,the main influencing factors affecting the control accuracy of the system contour tracking control are analyzed.In addition,aiming at the system contour tracking error,the common methods of single-axis and multi-axis tracking of the system are analyzed,and a suitable control algorithm is found.For the linear motor contour control algorithm design,to improve the tracking accuracy of the single-axis system and increase the suppression of the system to nonlinear factors,it is decided to adopt sliding mode variable structure control.Starting from the principle of sliding mode variable structure control,it is analyzed that the sliding mode variable structure control greatly improves the tracking performance of the system.In addition,a series of methods are used to solve the problem of chattering in the control process.Finally,nonlinear disturbances to the system are introduced.And the problem that the multi-axis joint control of the system is inconsistent is solved by using the sliding mode disturbance observer and the variable-gain cross-coupling control approach.Finally,the article systematically simulates and validates the relevant control algorithms for system design.The experimental simulation of the system through MATLAB,compared with the traditional PID control,can be seen that the system adopts sliding mode variable structure control to greatly improve the linear motor control performance.Finally,the control algorithm is actually written and tested on the XY linear motor platform,which further validates the effectiveness of the variable gain cross-coupled sliding mode variable structure control algorithm.