Rigid-flexible coupling motion platform driven by ball screw and control method thereof

A rigid-flexible coupling motion platform driven by a ball screw, comprising:

• a base, a linear guide rail fixed to the base, a rigid-flexible coupling platform, a servo motor, the ball screw, a guide rail sliding block, a displacement sensor and a driving controller;
• wherein the rigid-flexible coupling platform comprises a frame and a workbench;
• and the frame and the workbench are connected through a flexible hinge;
• the servo motor is configured to drive the ball screw;
• the workbench is connected with the ball screw;
• the frame is connected with the linear guide rail by the guide rail sliding block;
• the displacement sensor is configured to feed back a position of the workbench;
• and
• the driving controller is configured to take a planned trajectory as a control target, to form a position loop with the position feedback of the workbench, and to form a speed loop with a speed of the servo motor;
• with a purpose of converting a position of the servo motor into a linear displacement, the position feedback of the workbench is serviced as an actual position, a position deviation and a control signal are taken as inputs to perform an expanded state observation of disturbance estimation and the estimated disturbance is used to modify the control signal;
• and then the control signal is input to a current loop to drive the ball screw to drive the workbench to move.

A method for controlling a rigid-flexible coupling motion platform driven by a ball screw, wherein

• the rigid-flexible coupling motion platform comprises a base, a linear guide rail fixed to the base, a rigid-flexible coupling platform, a servo motor, the ball screw, a guide rail sliding block, a displacement sensor and a driving controller;
• the rigid-flexible coupling platform comprises a frame and a workbench;
• and the frame and the workbench are connected through a flexible hinge;
• the servo motor is configured to drive the ball screw;
• the workbench is connected with the ball screw;
• the frame is connected with the linear guide rail by the guide rail sliding block;
• the displacement sensor is configured to feed back a position of the workbench;
• the driving controller is configured to control the ball screw to drive the workbench to move;
• the method comprises:
• a semi-closed loop control mode, a dual-feedback full-closed loop control mode, and a dual-feedback auto disturbance rejection control mode;
• in the semi-closed loop control mode, a planned trajectory is taken as a control target, a position loop is formed with a position feedback of the servo motor, a speed loop is formed with a speed of the servo motor, and a control signal is input to a current loop to drive the ball screw to drive the workbench to move;
• in the dual-feedback full-closed loop control mode, a planned trajectory is taken as a control target and a position loop is formed with the position feedback of the workbench;
• a speed loop is formed with a speed of the servo motor, and a control signal is input to a current loop to drive the ball screw to drive the workbench to move;
• in the dual-feedback auto disturbance rejection control mode, a planned trajectory is taken as a control target, a position loop is formed with the position feedback of the workbench, a speed loop is formed with a speed of the servo motor, with a purpose of converting a position of the servo motor into a linear displacement, the position feedback of the workbench is serviced as an actual position, a position deviation and a control signal are taken as inputs to perform the expanded state observation of disturbance estimation and the estimated disturbance is used to modify the control signal;
• and then the control signal is input to a current loop to drive the ball screw to drive the workbench to move.