Real-time Path Control System Design by Means of Preview Information

提出了一种新的基于矢量分解的路径控制方法。本文将多轴系统在直角坐标系中的运动方程变换为圆形路径参考的旋转坐标系，并使轴停止与直线路径参考的路径参考成直角旋转。此外，在开放曲线参照或闭合曲线参照的情况下，通过轴的扩展和到单位圆路径或直线路径的变换来类似地处理它。变换后的运动方程可以解耦并分解为增益分量和相位分量，并且增益分量的误差与实际路径误差的大部分一致。增益分量控制系统和相位分量控制系统独立构造，使增益分量控制系统的跟踪性能优于相位分量控制系统。因此，由于干扰的影响被相分量控制系统吸收，因此获得了高性能的路径控制。在本方法中，可以使用单位控制系数在从开放曲线参考到闭合曲线参考的很大范围内实现几乎必要的路径控制。将该方法推广到三维空间，并应用于多轴直线电机工作台和机器人，实验验证了该方法的有效性。

A new path control method with vector decomposition is proposed in this study. In the present study, motion equations of a multiaxial system shown in orthogonal coordinate system is transformed into a rotational coordinate system for a circular path reference, and stops the rotation of the axis at right angles to the path reference of a straight line path reference. Furthermore, it is similarly handled by means of the expansion of the axis and transformation to the unit circular path or the straight line path in the case of open curve references or closed curve reference. The transformed motion equations can be decoupled and decomposed into gain component and phase component, and the error of the gain component agrees with most of the actual path error. Both the gain component and the phase component control system are constructed independently, and the tracking performance of the gain component control system is made superior to that of the phase component control system. Thus, high-performance path control is obtained because the effects of disturbances are absorbed by the phase component control system. In the present method, nearly essential path control can be realized using the unity control coefficient over a wide range , from the open curve references to the close curve references. The proposed method is also extended to 3-dimentional space and these methods are applied to multi-axis linear motor tables and robotic manipulators, and the effectiveness is confirmed experimentally.