Study on Multi-axial Preview Path Control System

在这项研究中，我提出了一种新的矢量分解路径控制方法。研究中，将多轴系统在直角坐标系中的运动方程变换为轴展开的旋转坐标系。然后，利用这些变换将任意曲线路径变换为单位圆或直线路径。变换后的运动方程可以解耦，分解为增益分量和相位分量。分别构造了增益分量控制系统和相位分量控制系统。在变换后的区域内，增益分量的期望值保持不变，增益分量误差等于路径误差，采用1型控制器可以收敛到零。相位分量控制系统吸收了扰动的影响，对路径误差的干扰很小。在该方法中，从期望的开放曲线路径到曲线路径，使用单位控制系数可以在很大范围内实现基本路径控制，并将该方法推广到三维空间。将这些方法应用于多轴直线电机工作台，并通过实验验证了其有效性。我还将所提出的方法应用于实际系统中，如NC台式铣床、两轮或三轮车、力显示等，并检验了这些实用方法的实用性。

I have proposed a new path control method with vector decomposition in this study. In the study, a motion equation of multiaxial systems in an orthogonal coordinate system was transformed into a rotational coordinate system whose axes were expanded. Then, an arbitrary curve path could be transformed into the unit circle or straight line path using the transformations. The transformed motion equations could be decoupled and decomposed into a gain component and a phase component. Both the gain component and the phase component control system were constructed independently. In the transformed area, the desired value of the gain component became constant and the gain component error was equal to the path error which could converge to zero by using 1-type controller. The effect of disturbances were absorbed by the phase component control system and the path error was little disturbed. In the method, essential path control could be realized using unity control coefficient over a wide range, from the desired open curve path to the curve path.I have also extended the proposed method to 3-dimentional space. I have applied these methods to multi-axis linear motor tables, and confirmed the effectiveness experimentally. I have also applied the proposed methods to practical systems such as NC Bench milling machines, two or three wheeled vehicles, force displays and so on, and examined these practical utility.