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

提出了一种新的矢量分解路径控制方法。在本研究中，将在正交坐标系中表示的多轴系统的运动方程转换为圆形路径参照物的旋转坐标系，并将轴的旋转停止在与直线路径参照物的路径参照物成直角的位置。此外，在开放曲线参考或封闭曲线参考的情况下，同样通过轴的展开和转换为单位圆路径或直线路径来处理。变换后的运动方程可以解耦分解为增益分量和相位分量，增益分量的误差与实际路径误差基本一致。增益分量控制系统和相位分量控制系统分别独立构建，使得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，由于相位分量控制系统吸收了干扰的影响，从而获得了高性能的路径控制。在该方法中，利用统一的控制系数，可以实现从开曲线参考到闭曲线参考的大范围内的近本质路径控制。将该方法扩展到三维空间，并将其应用于多轴直线电机工作台和机械臂，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.