Research On Contour Error Control Technology Of Linear Motor Based On High Speed,High Acceleration(Deceleration)

Under the trend of "Made in China 2025",the domestic manufacturing industry is developing towards the direction of high speed,high precision and high automation.Because of its unique advantages,linear motor gradually replaces the traditional structure of "rotary motor + ball screw",and it is widely used in high-end CNC machine tools,packaging and palletizing robots,picking and placing robots,lithography machines and other industries.Two-dimensional planar motion driven by linear motor is one of the most basic motions for positioning and feeding of automatic manufacturing equipment represented by NC machine tools,and the most important performance index is contour accuracy.In this paper,two-dimensional XY linear motor workbench is used as the experimental platform to study the performance of single-axis position tracking and two-axis contour control.The purpose is to design a contour error control scheme which can effectively improve the contour accuracy and adaptive performance of the system.Firstly,this paper expounds the research status and significance of the subject at home and abroad,and introduces the hardware and software structure and working principle of the two-dimensional XY linear motor motion platform.Secondly,the theory of fuzzy control and chicken swarm optimization algorithm are analyzed,and the position loop controller is designed for the single-axis linear motor servo system.Thirdly,the real-time contour error estimation model is analyzed and established,and the variable gain fuzzy cross-coupling control is used to realize the real-time compensation of the contour error and improve the contour accuracy of the two-dimensional worktable.Finally,for the single-axis control strategy and the two-axis control scheme proposed in this paper,comparative experiments under given conditions are carried out to verify them,which provides a new idea for the contour error control of multi-axis linear motor servo system.The main research results of this paper are as follows:(1)Aiming at the control of each single-axis servo system of the two-dimensional XY linear motor platform,based on the traditional PID control,a fuzzy-PID controller(ICSO-Fuzzy-PID)based on improved chicken swarm optimization algorithm is designed.The simulation and experiment verify that the proposed ICSO-Fuzzy-PID control is superior to the traditional PID control in the aspects of single-axis tracking performance,adaptability and robustness.(2)The contour error control algorithm of two-dimensional XY linear motor platform is studied.On the basis of adopting ICSO-Fuzzy-PID control strategy in each single axis,a variable gain fuzzy cross-coupling controller(CCC-Fuzzy-PID)is designed and applied to contour error control of multi-axis linear motor servo system.(3)The ICSO-Fuzzy-PID and CCC-Fuzzy-PID control methods proposed in this paper are verified by combining simulation analysis and experimental testing methods,which can effectively reduce the contour error of the two-dimensional XY linear motor platform and improve the contour accuracy of the system.