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H-shaped motion platform modeling method based on Lagrangian dynamics

A motion platform and modeling method technology, applied in the field of dynamic modeling, can solve the problems of difficult to improve the controller control accuracy, difficult to achieve, unrealistic and so on

Active Publication Date: 2019-04-19
SHENYANG POLYTECHNIC UNIV
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Problems solved by technology

However, in the case of high speed and high acceleration, the control accuracy of the controller designed according to the uncoupled model will be difficult to improve; at the same time, due to the complexity of the H-type motion platform itself and the limitation of modeling errors, if The method based on Newtonian dynamics is used to simulate the dynamic characteristics of mechanical coupling, and then the H-type motion platform rigid (rigid body motion)-flexible (beam deflection)-control (control strategy design) coupling system integration research is carried out and applied to CNC machining would be unrealistic and difficult to achieve

Method used

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  • H-shaped motion platform modeling method based on Lagrangian dynamics
  • H-shaped motion platform modeling method based on Lagrangian dynamics
  • H-shaped motion platform modeling method based on Lagrangian dynamics

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Embodiment 1

[0064] The structure of the H-type precision motion platform is as follows: figure 1 As shown, the Y-axis is a single-axis parallel system driven by dual linear motors, and the X-axis is coupled to the dual linear motors by a permanent magnet linear motor through a beam. Therefore, the H-type motion platform can be regarded as a A structure-coupled three-degree-of-freedom servo system. The H-type motion platform can be represented by two sets of coordinates, the first set consists of the data acquisition system (y 1 the y 2 x), the second group is equivalent coordinates (YθX), where y 1 ,y 2 and x are the position output of Y1-axis, Y2-axis and X-axis respectively; Y and θ are the beam center position and deflection angle respectively; X is the position output of X-axis, that is, X=x; c g1 ,c g2 and c x Respectively, the viscous friction coefficient of each axis; c b1 and c b2 is the torsional viscous damping coefficient due to beam deflection; k b1 and k b2 is the s...

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Abstract

The invention belongs to the technical field of dynamics modeling, and relates to an H-shaped motion platform modeling method based on Lagrangian dynamics. The method is based on an H-type motion platform coupling equivalent model, a Lagrangian dynamics and functional relationship is utilized to establish a coupling equivalent dynamics equation capable of obtaining three degrees of freedom, and the purposes of reducing modeling errors and conveniently designing a controller are achieved. According to the method, the beam deflection caused by desynchrony of the parallel double linear motors isfully considered, the influence of load movement on the beam is considered, the precision of the model is improved, and the problem that the control precision cannot be improved due to a modeling error of a traditional H-shaped platform non-coupling model can be effectively solved.

Description

technical field [0001] The invention belongs to the technical field of dynamic modeling, and relates to a modeling method of an H-type motion platform based on Lagrangian dynamics. Background technique [0002] Although the single-axis control system applied to CNC machine tools can meet the high-precision requirements, the output thrust it can provide is very limited, which limits the occasions where it can be applied. Therefore, in order to be applied to large-scale processing machinery, Start to adopt two-axis or multi-axis synchronous control system, the purpose is to use multi-axis motors to share the thrust evenly, which can not only improve the lack of single-axis thrust, but also reduce the time consumed by processing, and then increase the processing speed to increase production capacity. The H-type precision motion platform consists of three permanent magnet linear motors, one of which uses parallel dual linear motors to jointly drive a single-axis parallel system...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F2119/06G06F30/20
Inventor 王丽梅张康
Owner SHENYANG POLYTECHNIC UNIV
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