CONNECTING ROD ROTARY TABLE AND DECOUPLING CONTROL METHOD THEREOF

Title:

CONNECTING ROD ROTARY TABLE AND DECOUPLING CONTROL METHOD THEREOF

Document Type and Number:

WIPO Patent Application WO/2021/027915

Kind Code:

A1

Abstract:

A decoupling control method of a connecting rod rotary table, relating to the technical field of associated motion control mechanisms. The technical solution comprises the following steps: measuring the length L of a hypotenuse of a triangular structure; converting an axis A coordinate inputted by means of a system into an axis Z0 coordinate according to Z0=L*cosα and inputting the converted coordinate to an axis Z0; if it is a speed control method, converting into periodic displacement of Z0 according to ΔZ0=L*(cosα1-cosα2), and inputting the converted periodic displacement to the axis Z0. The beneficial effects are that: horizontal displacement generated by axis Z0 movement is directly fused into an axis X closed loop in a measurement superposition manner, displacement directly calculated by a grating ruler is high in precision and free of delay, and a more effective control level can be achieved on the mechanical structure. In addition, according to the optimized control algorithm, in the process of rotation of the axis A, the axis X has motion characteristics of RTCP, and the requirement for axis X motor dynamic performance is reduced.

Inventors:

CHEN HU (CN)
LIU HUIJIE (CN)
LIU JINGWEN (CN)
JIANG WENBIN (CN)
HUANG YUTONG (CN)

Application Number:

PCT/CN2020/109114

Publication Date:

February 18, 2021

Filing Date:

August 14, 2020

Export Citation:

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Assignee:

KEDE NUMERICAL CONTROL CO LTD (CN)

International Classes:

B23Q1/44; B23Q3/06

Foreign References:

CN210524442U	2020-05-15
CN108747436A	2018-11-06
CN108772717A	2018-11-09
CN205218598U	2016-05-11
CN106552967A	2017-04-05
GB848464A	1960-09-14
JP2015051493A	2015-03-19
CN201810806333A	2018-07-20

Other References: