High-precision three-dimensional contour control method and device

高精度三维轮廓控制方法及装置

Abstract

The invention provides a high-precision three-dimensional contour control method. The method comprises following steps of establishing a system kinetic equation of a triaxial movement platform under the world coordinate system Fw, wherein three axes of the triaxial movement platform are mutually quadrature axes; establishing a task coordinate system for a currently given point of an expected three-dimensional contour wd, and calculating a coordinate transformation relation from the world coordinate system Fw to the task coordinate system Ff; carrying out quadratic coordinate transformation on the task coordinate system Ff through rigid body transformation so as to obtain a new task coordinate system Fp and calculate a coordinate transformation relation from the task coordinate system Ff to the new task coordinate system Fp; converting the system kinetic equation under the world coordinate system in to a system kinetic equation under the new task coordinate system Fp; and designing a PD controller based on feedback compensation, thereby achieving decoupling control of error dynamics. According to the invention, three-dimensional contour performance and feed performance can be respectively controlled only by adjusting two groups of parameters. The invention also provides a corresponding high-precision three-dimensional contour control device.
本发明提供了高精度三维轮廓控制方法,包括以下步骤:在世界坐标系Fw下建立三轴运动平台的系统动力学方程,所述三轴运动平台的三个轴互为正交轴;在期望三维轮廓wd的当前给定点建立任务坐标系,并计算世界坐标系Fw到任务坐标系Ff的坐标变换关系;通过刚体变换将任务坐标系Ff进行二次坐标变换,得到新的任务坐标系Fp,并计算任务坐标系Ff到新的任务坐标系Fp的坐标变换关系;将世界坐标系Fw下的系统动力学方程转换为新的任务坐标系Fp下的系统动力学方程;设计基于反馈补偿的PD控制器,实现对误差动力学的解耦控制。本发明只需要调节两组参数就可以分别控制三维的轮廓性能和进给性能。本发明还提供了对应的高精度三维轮廓控制装置。

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