双轴运动远程控制系统及其控制方法研究
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摘要
运动控制是自动控制的重要分支，由于它能够实现对运动轨迹与运行速度的精确控制要求，因此运动控制系统在各类控制工程中有着广泛应用前景。远程控制是本地计算机通过网络系统实现对远端的生产或者实验过程的监视和控制，实验者从网络上可以看到直观、可信的实验信息，对校园网络实验教学的发展有着重要的意义。
本课题针对双轴运动控制系统的远程网络控制，将网络技术与运动控制技术结合起来开发远程网络运动控制系统。
本课题以提高双轴运动控制系统控制精度为目的，从单、双轴两方面进行分析。对于单轴系统首先利用美国DeltaTau公司的可编程多轴控制器PMAC自带的控制软件PEWIN进行PID参数的整定以及前馈补偿环节的参数整定，然后分析系统存在的非线性摩擦力，利用遗传算法寻优摩擦力补偿环节的参数，达到补偿摩擦力的效果，有效地提高了系统的控制性能。对于双轴系统设计了一个轨迹为圆的插补器，采用基于遗传算法—神经网络的在线PID参数调整算法，减小了系统的跟踪误差，并分析双轴之间的轮廓误差，设计出基于RBF神经网络的综合控制器，经过仿真实验证明，本文采用的综合控制器能有效地减小系统的跟踪误差和轮廓误差，提高系统的控制精度。
最后运用网络数据库原理及SQL Server数据库编程技术，实现了网络数据库，并利用双层防火墙技术和数据库存取控制技术来实现系统的网络安全，使得双轴运动控制系统可供校园网内师生及研究人员实验和观察。
Motion control is an important branch of automatic control, and because it can realize the request of precise control for motion track and moving velocity, it has got extensive application foreground. Remote control system is to supervise the remote production or experiment process, implemented by local computer through Internet. The experimentation personnel can get the results through Internet directly, so remote control has important meaning in the development of experiment teaching through campus networks.
This task is to control the two-axis motion system through networks, and net technology and motion controlling technology are used to explore remote control system.
In order to improve motion accuracy of the two-axis motion system, the analysis is made in two aspects-single axis and two axis. As for single axis, PEWIN, the software given by the Programmable Multi-Axis Controller (PMAC), is used to find the best parameters of the PID controller and feedforward compensation controller. Then, the nonlinear friction in the system is compensated by the friction compensation controller with Genetic Algorithm(GA). The compensation controller can improve the system performance effectively. In two axis system, a circle interpolator is designed, and a new method based on GA-Neural Networks is proposed to adjust PID parameters online to reduce the tracking error. Then, an integrated controller based on RBF Neural Network(RBFNN) is designed to reduce the contouring error of the two axis. Experimental results show that the proposed integrated controller significantly improved accuracy in both tracking and contouring.
At last, network database is established by using network database theory and SQL Server programming technology. Two-layer firewall technology and database access control technology are used to ensure network security, so the students, teachers and researchers all over school can supervise and control the two-axis motion system in the Internet.
本课题针对双轴运动控制系统的远程网络控制，将网络技术与运动控制技术结合起来开发远程网络运动控制系统。
本课题以提高双轴运动控制系统控制精度为目的，从单、双轴两方面进行分析。对于单轴系统首先利用美国DeltaTau公司的可编程多轴控制器PMAC自带的控制软件PEWIN进行PID参数的整定以及前馈补偿环节的参数整定，然后分析系统存在的非线性摩擦力，利用遗传算法寻优摩擦力补偿环节的参数，达到补偿摩擦力的效果，有效地提高了系统的控制性能。对于双轴系统设计了一个轨迹为圆的插补器，采用基于遗传算法—神经网络的在线PID参数调整算法，减小了系统的跟踪误差，并分析双轴之间的轮廓误差，设计出基于RBF神经网络的综合控制器，经过仿真实验证明，本文采用的综合控制器能有效地减小系统的跟踪误差和轮廓误差，提高系统的控制精度。
最后运用网络数据库原理及SQL Server数据库编程技术，实现了网络数据库，并利用双层防火墙技术和数据库存取控制技术来实现系统的网络安全，使得双轴运动控制系统可供校园网内师生及研究人员实验和观察。
Motion control is an important branch of automatic control, and because it can realize the request of precise control for motion track and moving velocity, it has got extensive application foreground. Remote control system is to supervise the remote production or experiment process, implemented by local computer through Internet. The experimentation personnel can get the results through Internet directly, so remote control has important meaning in the development of experiment teaching through campus networks.
This task is to control the two-axis motion system through networks, and net technology and motion controlling technology are used to explore remote control system.
In order to improve motion accuracy of the two-axis motion system, the analysis is made in two aspects-single axis and two axis. As for single axis, PEWIN, the software given by the Programmable Multi-Axis Controller (PMAC), is used to find the best parameters of the PID controller and feedforward compensation controller. Then, the nonlinear friction in the system is compensated by the friction compensation controller with Genetic Algorithm(GA). The compensation controller can improve the system performance effectively. In two axis system, a circle interpolator is designed, and a new method based on GA-Neural Networks is proposed to adjust PID parameters online to reduce the tracking error. Then, an integrated controller based on RBF Neural Network(RBFNN) is designed to reduce the contouring error of the two axis. Experimental results show that the proposed integrated controller significantly improved accuracy in both tracking and contouring.
At last, network database is established by using network database theory and SQL Server programming technology. Two-layer firewall technology and database access control technology are used to ensure network security, so the students, teachers and researchers all over school can supervise and control the two-axis motion system in the Internet.
引文
[1] 姜长生．吴庆宪．智能控制及应用．南京航空航天大学，1997．3
[2] 姜长生．孙隆和等．系统理论与鲁棒控制．航空工业出版社，1998．8
[3] 南航．北航、西工大合编．现代控制理论，1998．3
[4] 孙增圻．智能控制理论与技术．清华大学出版社．2002．3
[5] 夏美娟．基于Internet客户／服务器方式的PMAC运动平台远程监控研究．南京航空航天大学硕士学位论文，2003．2
[6] Y.Koren, "Cross-coupled biaxial computer tbr manufacturing systems" ASME J. Dynamic Syst.. Measurement, Contr., 1980,vol. 102, No.4, pp.265-272
[7] S.S,Yeh and P.L.Hsu. "Analysis and design of the integrated controller for precise motion systems".IEEE Trans. Contr:Syst. Technol., Nov. 1999,vol.7,pp.706-717
[8] Jong-Hwan. Kim,Hong-Kook Chae. "Identification and Control of Systems with Friction Using Accelerated Evolutionary Programming"[J] IEEE Control System, August 1996,pp.38-47
[9] Tohru Kawabe,Takanori Tagami ."A real coded genetic algorithm for matrix inequality design approach of robust PID controller with two degrees of freedom"[J], Proc. 12th IEEE Int. Sympo. on Intelligent Control, Istanbul, 1997,pp. 119-124
[10] He S Z.Tan S H.et al. "Fuzzy self-tuning of PID controllers"[J], Fuzzy Sets and Systems, 1993.56(2):pp.37-46
[11] B.Armstrong-Helouvry, P.Dupont,and C.C.De Wit. "A survey of models, analysis tools and compensation methods for the control of machines with friction," Automatica, 1994,vol.30. No.7, pp. 1083-1138
[12] S.Jee and Y.Koren. "A self-organizing fuzzy logic control for friction compensation in feed drives," in Proc. 1995 Amer. Contr. Conf., 1995,pp.205-209
[13] Y.Koren and S.Jee. "Fuzzy logic cross-coupling control," CIRP Proc.Manufactuking Syst., 1995,vol.25,No. 1 ,pp. 104-108
[14] S.S.Yeh and P.L.Hsu. "Analysis and design of integrated control for multi-axis motion systems", IEEE Trans. Contr.Syst. Technol., May.2003,vol.11,No.3,pp.375-382
[15] Lee. Seon-Woo and Kim. Jong-Hwan. "Friction identification using evolution strategies and robust control of positioning tables"[J],Dynamic Systems, Measurement, and Control, Dec. 1999, vol. 121 ,pp.619-624
[16] Ge.S.S., Lee.T.H. and Ren.S.X. "Adaptive friction compensation of servo mechanisms", International Journal of Systems Science, 2001, vol.32, No.4,
pp．523-532
[17] 谭冠政．李安平．最优 Fuzzy-GA PID控制器及其应用．中南工业大学学报，Aug.2002.vol.33.pp.419-423
[18] Zhang.T.. Ge.S.S.. and Hang.C.C. "Design and performance analysis of a direct adaptive controller for nonlinear systems", Automatica, 1999, vol.35, pp. 1809-1817
[19] 张秋菊，李宏．模糊推理耦合轮廓误差补偿方法的研究．中国机械工程，1995，vol.6.No.2.PP.19-21
[20] S.S.Yeh and P.L.Hsu "Estimation of the contouring error vector for the cross-coupled control design", IEEE/ASME Trans. Mechatron., 2002, vol.7, No.1.pp.44-51
[21] 柴天佑，王笑波．RBF神经网络在加速冷却控制系统中的应用．自动化学报，Mar.2000.vol.26.No.2.pp.219-225
[22] 朱明星．张德龙．RBF网络基函数中心选取算法的研究．安徽大学学报(自然科学版)．Mar.2000.vol.24.No.1,pp.72-78
[23] 北京元茂兴控制设备技术有限责任公司，PMAC用户手册1.0版本
[24] 北京元茂兴控制设备技术有限责任公司，PMAC软件手册1.0版本
[25] 北京元茂兴设备技术有限公司，全数字交流伺服驱动器MINAS系列操作手册
[26] Wang.G.-J., Fong C.T. and Chang Kang J. "Neural-network-based self-tuning PI controller for precise motion control of PMAC motors", IEEE Transactions on Industrial Electronics, Apr.2001, vol.48, No.2, pp.408-415
[27] 林晓东．杨义先．网络防火墙技术．电信科学，Mar. 1997.vol.13,No.3,pp.41-43
[28] 葛平升．Web数据库技术应用研究与实现．西北工业大学硕士学位论文，2002．2
[29] 张崇巍，李汉强．运动控制系统．武汉理工大学出版社，2002．1
[30] 微软公司．SQL Server 7.0实现数据库设计．北京希望电子出版社，2001．6
[31] 闪四清．SQL Server 7.0系统管理和应用开发指南．清华大学出版社，2000．2
[32] 周明．孙树栋．遗传算法原理及应用．国防工业出版社，1999．6
[33] 李敏强．寇纪淞．遗传算法的基本理论与应用．科学出版社，2002．3
[34] 刘金琨．先进PID控制及其MATLAB仿真．电子工业出版社，2003．1
[35] 徐丽娜．神经网络控制．哈尔滨工业大学出版社，1999．5
[36] 邢增平．Delphi 6.0最佳专辑．人民邮电出版社，2002．5
[37] 陈在平，杜太行．控制系统计算机仿真与CAD—MATLAB语言应用．天津大学出版社，2001．9
[38] 罗亚，胡昌盛．网络数据库系统的开发策略．现代计算机，Apr.2000,PP.15-22
[39] 邓忠华，李叶松．软件伺服系统位置控制分析．华中理工大学学报，Apr.1994,vol.22,No.4,pp.94-97
[40] 刘清，吴秀恒．基于双级模糊控制器的船舶操纵运动控制系统．武汉交通科技大
学学报，Jun.2000, vol.24, No.3 ,pp.229-232
[41] Basilio, J.C. "Design of PI and PID controllers with transient performance specification", IEEE Transactions on Education, Nov.2002, vol.45, No.4, pp.364-370
[42] 徐元博．邓新治．园弧插补器插补其它二次曲线的方法．陕西工学院学报．Mar.1998.vol.14.No.1.pp.65-67
[43] S.L.Cheng and C.Hwang "Optimal approximation of linear systems by a differential evolution algorithm". IEEE Transactions on Systems, Man, and Cybernetics Part A:Svstems and Humans., Nov.2001 ,vol.31, No.6, pp.698-707
[44] 朱朝艳．郭鹏飞．谈遗传算法的改进策略．辽宁工学院学报，Oct.2001,vol.21,No.5.pp.15-17
[45] 潘炼东，黄心汉．基于PMAC的机器人控制器设计．华中理工大学学报，Apr.2000,vol.28.No.4.pp.69-71
[46] Liao.Y.-H. "An educational genetic algorithms learning tool", IEEE Transactions on Education, May,2001, vol.44, No.2, pp.210
[47] 任敏．交流伺服系统神经网络PID控制．沈阳工业大学学报，Oct.2001.vol.23,No.5.pp.406-408
[48] http://www.leadingcnc.com/pxzx.htm
[49] http://www.hongfei.com.cn/news/2/2002/03/29/20020329164932.htm
[2] 姜长生．孙隆和等．系统理论与鲁棒控制．航空工业出版社，1998．8
[3] 南航．北航、西工大合编．现代控制理论，1998．3
[4] 孙增圻．智能控制理论与技术．清华大学出版社．2002．3
[5] 夏美娟．基于Internet客户／服务器方式的PMAC运动平台远程监控研究．南京航空航天大学硕士学位论文，2003．2
[6] Y.Koren, "Cross-coupled biaxial computer tbr manufacturing systems" ASME J. Dynamic Syst.. Measurement, Contr., 1980,vol. 102, No.4, pp.265-272
[7] S.S,Yeh and P.L.Hsu. "Analysis and design of the integrated controller for precise motion systems".IEEE Trans. Contr:Syst. Technol., Nov. 1999,vol.7,pp.706-717
[8] Jong-Hwan. Kim,Hong-Kook Chae. "Identification and Control of Systems with Friction Using Accelerated Evolutionary Programming"[J] IEEE Control System, August 1996,pp.38-47
[9] Tohru Kawabe,Takanori Tagami ."A real coded genetic algorithm for matrix inequality design approach of robust PID controller with two degrees of freedom"[J], Proc. 12th IEEE Int. Sympo. on Intelligent Control, Istanbul, 1997,pp. 119-124
[10] He S Z.Tan S H.et al. "Fuzzy self-tuning of PID controllers"[J], Fuzzy Sets and Systems, 1993.56(2):pp.37-46
[11] B.Armstrong-Helouvry, P.Dupont,and C.C.De Wit. "A survey of models, analysis tools and compensation methods for the control of machines with friction," Automatica, 1994,vol.30. No.7, pp. 1083-1138
[12] S.Jee and Y.Koren. "A self-organizing fuzzy logic control for friction compensation in feed drives," in Proc. 1995 Amer. Contr. Conf., 1995,pp.205-209
[13] Y.Koren and S.Jee. "Fuzzy logic cross-coupling control," CIRP Proc.Manufactuking Syst., 1995,vol.25,No. 1 ,pp. 104-108
[14] S.S.Yeh and P.L.Hsu. "Analysis and design of integrated control for multi-axis motion systems", IEEE Trans. Contr.Syst. Technol., May.2003,vol.11,No.3,pp.375-382
[15] Lee. Seon-Woo and Kim. Jong-Hwan. "Friction identification using evolution strategies and robust control of positioning tables"[J],Dynamic Systems, Measurement, and Control, Dec. 1999, vol. 121 ,pp.619-624
[16] Ge.S.S., Lee.T.H. and Ren.S.X. "Adaptive friction compensation of servo mechanisms", International Journal of Systems Science, 2001, vol.32, No.4,
pp．523-532
[17] 谭冠政．李安平．最优 Fuzzy-GA PID控制器及其应用．中南工业大学学报，Aug.2002.vol.33.pp.419-423
[18] Zhang.T.. Ge.S.S.. and Hang.C.C. "Design and performance analysis of a direct adaptive controller for nonlinear systems", Automatica, 1999, vol.35, pp. 1809-1817
[19] 张秋菊，李宏．模糊推理耦合轮廓误差补偿方法的研究．中国机械工程，1995，vol.6.No.2.PP.19-21
[20] S.S.Yeh and P.L.Hsu "Estimation of the contouring error vector for the cross-coupled control design", IEEE/ASME Trans. Mechatron., 2002, vol.7, No.1.pp.44-51
[21] 柴天佑，王笑波．RBF神经网络在加速冷却控制系统中的应用．自动化学报，Mar.2000.vol.26.No.2.pp.219-225
[22] 朱明星．张德龙．RBF网络基函数中心选取算法的研究．安徽大学学报(自然科学版)．Mar.2000.vol.24.No.1,pp.72-78
[23] 北京元茂兴控制设备技术有限责任公司，PMAC用户手册1.0版本
[24] 北京元茂兴控制设备技术有限责任公司，PMAC软件手册1.0版本
[25] 北京元茂兴设备技术有限公司，全数字交流伺服驱动器MINAS系列操作手册
[26] Wang.G.-J., Fong C.T. and Chang Kang J. "Neural-network-based self-tuning PI controller for precise motion control of PMAC motors", IEEE Transactions on Industrial Electronics, Apr.2001, vol.48, No.2, pp.408-415
[27] 林晓东．杨义先．网络防火墙技术．电信科学，Mar. 1997.vol.13,No.3,pp.41-43
[28] 葛平升．Web数据库技术应用研究与实现．西北工业大学硕士学位论文，2002．2
[29] 张崇巍，李汉强．运动控制系统．武汉理工大学出版社，2002．1
[30] 微软公司．SQL Server 7.0实现数据库设计．北京希望电子出版社，2001．6
[31] 闪四清．SQL Server 7.0系统管理和应用开发指南．清华大学出版社，2000．2
[32] 周明．孙树栋．遗传算法原理及应用．国防工业出版社，1999．6
[33] 李敏强．寇纪淞．遗传算法的基本理论与应用．科学出版社，2002．3
[34] 刘金琨．先进PID控制及其MATLAB仿真．电子工业出版社，2003．1
[35] 徐丽娜．神经网络控制．哈尔滨工业大学出版社，1999．5
[36] 邢增平．Delphi 6.0最佳专辑．人民邮电出版社，2002．5
[37] 陈在平，杜太行．控制系统计算机仿真与CAD—MATLAB语言应用．天津大学出版社，2001．9
[38] 罗亚，胡昌盛．网络数据库系统的开发策略．现代计算机，Apr.2000,PP.15-22
[39] 邓忠华，李叶松．软件伺服系统位置控制分析．华中理工大学学报，Apr.1994,vol.22,No.4,pp.94-97
[40] 刘清，吴秀恒．基于双级模糊控制器的船舶操纵运动控制系统．武汉交通科技大
学学报，Jun.2000, vol.24, No.3 ,pp.229-232
[41] Basilio, J.C. "Design of PI and PID controllers with transient performance specification", IEEE Transactions on Education, Nov.2002, vol.45, No.4, pp.364-370
[42] 徐元博．邓新治．园弧插补器插补其它二次曲线的方法．陕西工学院学报．Mar.1998.vol.14.No.1.pp.65-67
[43] S.L.Cheng and C.Hwang "Optimal approximation of linear systems by a differential evolution algorithm". IEEE Transactions on Systems, Man, and Cybernetics Part A:Svstems and Humans., Nov.2001 ,vol.31, No.6, pp.698-707
[44] 朱朝艳．郭鹏飞．谈遗传算法的改进策略．辽宁工学院学报，Oct.2001,vol.21,No.5.pp.15-17
[45] 潘炼东，黄心汉．基于PMAC的机器人控制器设计．华中理工大学学报，Apr.2000,vol.28.No.4.pp.69-71
[46] Liao.Y.-H. "An educational genetic algorithms learning tool", IEEE Transactions on Education, May,2001, vol.44, No.2, pp.210
[47] 任敏．交流伺服系统神经网络PID控制．沈阳工业大学学报，Oct.2001.vol.23,No.5.pp.406-408
[48] http://www.leadingcnc.com/pxzx.htm
[49] http://www.hongfei.com.cn/news/2/2002/03/29/20020329164932.htm
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