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A general framework for solving inverse dynamics problems in multi-axis motion control
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DOI：10.1016/j.isatra.2019.05.012.png)
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摘要
En 中文
An inverse dynamics compensation (IDC) scheme for the execution of curvilinear paths by multiaxis motion controllers is proposed. For a path specified by a parametric curve r(xi), the IDC scheme computes a real-time path correction Delta r(xi) that (theoretically) eliminates path deviations incurred by the inertia and damping of the machine axes. To exploit the linear time-invariant nature of the dynamic equations, the correction term is computed as a function of elapsed time t, and the corresponding curve parameter values xi are only determined as the final step of the IDC scheme, through a real-time interpolator algorithm. It is shown that, in general, the correction term for P, PI, and PID controllers consists of derivative, natural, and integral terms (the integrand of the latter involving only the path r(xi), and not its derivatives). The use of lead segments to minimize transient effects associated with the initial conditions is also discussed, and the performance of the method is illustrated by simulation results. The IDC scheme is expressed in terms of a linear differential operator formalism to provide a clear, general, and systematic development, amenable to further adaptations and extensions. (C) 2019 ISA. Published by Elsevier Ltd. All rights reserved.
Keyword:
CNC machine
PID controller
Inverse dynamics
Feedrate
Contour error
Path modification
Pythagorean-hodograph curve
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6.5
论文数:
6.0K
被引数:
2.0W
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