US 2022/0288731 A1 · LINKAGE TURNTABLE AND DECOUPLING CONTROL METHOD THEREOF

Abstract

A decoupling control method for linkage turntable in the technical field of associative motion control mechanisms. Steps of the technical solution are as follows: measure a length L of a hypotenuse of a triangular structure; convert A-axis coordinates input to the system into Z0-axis coordinates according to Z0=L*cos α and input them on Z0-axis; and in the case of a speed control method, convert the A-axis coordinates into a periodic displacement of Z0 according to ΔZ0=L*(cos α1−cos α2), and input the displacement to Z0-axis. The beneficial effect is that the horizontal displacement generated by the movement of the Z0-axis is directly integrated into the closed loop of the X-axis by means of measurement combination and the displacement directly calculated by grating scale has high precision and no delay, and it is possible to achieve a more effective control level on this mechanical structure. In addition, the optimized control algorithm makes the X-axis have the motion characteristics of RTCP in the process of A-axis rotation, thereby reducing the requirements for the dynamic performance of the X-axis motor.

Claims8

Dependent claims

A linkage turntable, comprising:

a turntable column (1);
a linkage turntable (8);
an X-axis grating scale reading head (10);
an X-axis grating scale (13);
a turntable base (14);
a sliding mechanism A;
and a sliding mechanism B, wherein the turntable column (1) is vertically mounted on the turntable base (14), the linkage turntable (8) is slidably connected to the turntable column (1) through the sliding mechanism A, the linkage turntable (8) is slidably connected to the turntable base (14) through the sliding mechanism B, the X-axis grating scale reading head (10) is mounted on the sliding mechanism B, and the X-axis grating scale (13) is mounted below the turntable base (14) and arranged opposite to the X-axis grating scale reading head (10).

4 more elements

A decoupling control method for linkage turntable, comprising:

S1. measure a length L of a hypotenuse of a triangular structure;
and
S2. convert A-axis coordinates input to the system into Z0-axis coordinates according to
Z0=L*cos α
and input them on Z0-axis, wherein ZO represents the length of the nut position of Z0-axis relative to the reference point of Z0-axis, and the reference point is located at the intersection of the extension lines of the displacement trajectories of the two rotation nodes of the linkage mechanism, and α represents the angle of the turntable, that is, the angle between the turntable normal and the positive direction of the X′-axis;
and in the case of a speed control method, convert the A-axis coordinates into a periodic displacement of Z0 according to
ΔZ0=L*(cos α1−cos α2)
and input the displacement to Z0-axis, wherein ΔZ0 indicates the displacement of Z0-axis, α1 indicates the angle of the turntable before moving, and α2 indicates the angle of the turntable after moving.

5 more elements

Dependencies are inferred from the claim text.

Linkage turntable and decoupling control method thereof

Life of this patent

Linkage turntable and decoupling control method thereof

Life of this patent

Abstract

Claims8