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在双轴高精度轮廓加工中,单轴的跟踪误差和双轴间运动不协调产生的轮廓误差都会影响加工精度。文章提出了一种基于双迭代学习-交叉耦合的双轴运动控制策略,将单轴的迭代学习控制(iterative learning control,ILC)与双轴的交叉耦合控制(cross-coupled control,CCC)以及轮廓误差的ILC相结合。单轴的ILC用来改善单轴的跟踪性能,减小单轴的跟踪误差;双轴的CCC用以增加各轴之间的匹配程度,减小轮廓误差;轮廓误差的ILC可以提高轮廓的跟踪性能,进一步削减轮廓误差。仿真结果表明,双迭代学习-交叉耦合控制系统不仅能够有效降低单轴的跟踪误差,而且能显著减小轮廓误差。
In biaxial high-precision contouring, the contouring errors caused by the uniaxial tracking error and the uncoordinated biaxial motion all affect the machining accuracy. In this paper, a two-iterative learning-cross-coupling based two-axis motion control strategy is proposed, which combines single-axis iterative learning control (ILC) with biaxial cross-coupled control (CCC) Error ILC combined. Single-axis ILC is used to improve single-axis tracking performance and reduce single-axis tracking error; biaxial CCC to increase the matching between the various axes to reduce the contour error; contour error ILC can improve the tracking of the contour Performance, to further reduce the contour error. The simulation results show that the double iterative learning-cross-coupling control system not only can effectively reduce the single-axis tracking error, but also can significantly reduce the contour error.