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浙江大学学报(工学版)
能源与机械工程     
端框移动平台双驱同步控制系统设计
费少华1 ,刘丹1 ,乔明杰2,章明1,方强1
1. 浙江大学 浙江省先进制造技术重点研究实验室, 浙江 杭州 310027; 2. 西安飞机工业(集团)有限责任公司,陕西 西安 710089
Synchronous control system design of dual drive end frame executed platform
FEI Shao hua1,  LIU Dan1, QIAO Ming jie2, ZHANG Ming1,FANG Qiang1
1. Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province,  Zhejiang University, Hangzhou 310027, China; 2. AVIC Xi’an Aircraft Industry (Group) Limited Company, Xi’an 710089, China
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摘要:

在某型飞机数字化装配系统中,为了解决大尺寸、大负载端框移动平台两轴驱动位置不同步问题, 将交叉耦合技术引入自适应控制, 提出自适应耦合同步控制策略. 建立端框移动平台双驱机构的非线性数学模型; 设计端框移动平台的自适应耦合同步控制算法以及自适应律, 根据李雅普诺夫稳定性定理、Barbalat引理及LaSalle引理证明系统的稳定性和收敛性; 完成基于自适应耦合同步控制的双轴闭环控制系统设计, 在保证单轴跟踪精度的同时实现双轴同步控制. 实验结果表明, 基于自适应耦合同步控制的端框移动平台位置跟踪误差小于0.040 mm, 位置同步误差最大值为0.011 mm.
关键词: 

Abstract:

 The synchronization control strategy of adaptive coupling was presented by incorporating cross coupling technology into adaptive control architecture in order to solve the problem that the end frame's two axes with high precision and large load can't  synchronously move in the aircraft digital assembly system. The nonlinear model of dual drive mechanism of the end frame executed platform was conducted. The adaptive coupling control algorithm and adaptive law for end frame executed platform were designed. Then the stability and convergence of the control system were analyzed by Lyapunov, Barbalat and LaSalle theory. A biaxial closed loop servo system was finished based on adaptive coupling synchronous control. Then the biaxial synchronous  control was achieved under the high tracking accuracy of each axis. Experiments on end frame executed platform indicate that the tracking error of two axes is below 0.040 mm, and the maximum synchronization error is 0.011 mm.

出版日期: 2016-03-31
:  TP 273  
基金资助:

中央高校基本科研业务费专项资金资助项目(2015FZA4005).

通讯作者: 章明, 男, 工程师. ORCID: 0000 0003 3529 4259.     E-mail: zhgmg@163.com
作者简介: 费少华(1986 -), 男, 助理研究员, 从事伺服控制技术的研究. ORCID: 0000 0002 2045 8831. E-mail: f307110@163.com
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引用本文:

费少华,刘丹,乔明杰,章明,方强. 端框移动平台双驱同步控制系统设计[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2016.01.013.

FEI Shao hua, LIU Dan, QIAO Ming jie, ZHANG Ming,FANG Qiang. Synchronous control system design of dual drive end frame executed platform. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2016.01.013.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2016.01.013        http://www.zjujournals.com/eng/CN/Y2016/V50/I1/85

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