基于同步位置误差自适应补偿的双驱运动平台同步控制

doi:10.3901/JME.2025.22.294

机械工程学报 ›› 2025, Vol. 61 ›› Issue (22): 294-305.doi: 10.3901/JME.2025.22.294

• 交叉与前沿 • 上一篇

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基于同步位置误差自适应补偿的双驱运动平台同步控制

施逸轩¹, 武星^1,2, 孟凯^1,2,3, 张航瑛^1,2,3, 楼佩煌^1,2

1. 南京航空航天大学机电学院南京 210016;
2. 空天集成电路与微系统工信部重点实验室南京 210016;
3. 南京航空航天大学天元实验室南京 210016

收稿日期:2024-11-13 修回日期:2025-05-29 发布日期:2026-01-10
作者简介:施逸轩,男,2000年出生。主要研究方向为机械精密控制。E-mail:yixuan.s@nuaa.edu.cn
武星(通信作者),男,1982年出生,博士,研究员,硕士研究生导师。主要研究方向为智能运动系统感知测量与定位控制。E-mail:wustar5353@nuaa.edu.cn
基金资助:
国家自然科学基金(52475521,61973154); 江苏省重点研发计划揭榜挂帅(BE2023015-2); 江苏高校“青蓝工程”优秀青年骨干教师(2022); 南京市留学人员科技创新择优(YQR23113); 南京航空航天大学人才引进科研基金(YAH22047,YAH23025)资助项目。

Synchronous Control of a Dual-drive Motion Platform Based on Adaptive Compensation of Synchronous Position Error

SHI Yixuan¹, WU Xing^1,2, MENG Kai^1,2,3, ZHANG Hangying^1,2,3, LOU Peihuang^1,2

1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016;
2. Key Laboratory of Aerospace Integrated Circuits and Microsystem, Ministry of Industry and Information Technology, Nanjing 210016;
3. National Key Laboratory of Microwave Photonics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016

Received:2024-11-13 Revised:2025-05-29 Published:2026-01-10

摘要/Abstract

摘要： 针对双驱运动平台同步误差导致的定位精度下降、摩擦扰动增大等问题，提出一种双电机跟踪误差自适应补偿的双驱运动平台同步控制方法。先对双驱运动平台进行系统建模并分析同步误差导致的摩擦扰动力。其次，构建双驱运动平台自适应同步控制架构，提出面向弱跟踪性能电机的实时同步误差选择性补偿策略，设计融合单轴位置指令跟踪和同步位置误差补偿的同步位置控制器，为速度环提供兼顾单轴跟踪精度和双轴同步性能的速度控制指令。最后，完成双驱运动平台的同步控制仿真和试验：在位置环和速度环采用了比例积分微分(Proportion integration differentiation,PID)控制算法，对比多种同步控制策略的控制性能。仿真与试验结果表明，自适应同步控制策略明显优于并行同步控制策略。与交叉耦合控制策略相比，该自适应的控制策略不仅显著提升了单电机的位置跟踪精度，还增强了双电机的位置同步性能。

关键词: 同步控制, 自适应补偿, 跟踪控制, 双驱运动平台, PID控制

Abstract: The synchronization error of a dual-drive motion platform leads to decreased positioning accuracy and increased frictional perturbation. To address these problems, a synchronous control method based on adaptive compensation of dual-motor tracking error is proposed for the dual-drive motion platform. Firstly, the models of linear motors are systematically established and the friction perturbation force caused by the synchronization error is analyzed. Then, an adaptive synchronous control architecture is constructed for the dual-drive motion platform. A selective compensation strategy of real-time synchronous error is proposed for the motor with weak tracking performance. Moreover, a synchronous position controller is devised by combining single-axis position command tracking and synchronous position error compensation. This controller is used to provide the speed control command while both the single-axis tracking accuracy and dual-axis synchronous performance are considered. Finally, the synchronous control simulation and experiment are conducted on a dual-drive motion platform. PID control algorithm is implemented in the loops of position control and speed control, respectively, and the control performances of several synchronous control strategies are compared. The results of simulation and experiment show that the proposed adaptive synchronous control strategy obviously outperforms the parallel synchronous control strategy. Compared with the cross-coupling control strategy, this designed control strategy can not only improve the position tracking accuracy of each motor remarkably, but also enhance the position synchronization performance of dual motors.

Key words: synchronous control, adaptive compensation, tracking control, dual-drive motion platform, PID control

中图分类号:

TP273

施逸轩, 武星, 孟凯, 张航瑛, 楼佩煌. 基于同步位置误差自适应补偿的双驱运动平台同步控制[J]. 机械工程学报, 2025, 61(22): 294-305.

SHI Yixuan, WU Xing, MENG Kai, ZHANG Hangying, LOU Peihuang. Synchronous Control of a Dual-drive Motion Platform Based on Adaptive Compensation of Synchronous Position Error[J]. Journal of Mechanical Engineering, 2025, 61(22): 294-305.

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基于同步位置误差自适应补偿的双驱运动平台同步控制

Synchronous Control of a Dual-drive Motion Platform Based on Adaptive Compensation of Synchronous Position Error

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