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Analysis and Control Strategy of a ThreeAxis Electric Rotary Table Dynamic Coupling
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LI Fujun1,LUO Baoying1,ZENG Jungao2,WANG Xuyong1,TAO Jianfeng1,LIU Peng1
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(1. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China;
2. No 6354 Institute, China State Shipbuilding Corporation, Jiujiang 332000, Jiangxi, China)
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Abstract This paper built a kinematics equation and dynamics equation for a threeaxis electric rotary table from the point of view of dynamics of multibody systems, and studied the effect of the dynamic coupling. An active control strategy using velocity internal feedback for a threeaxis electric rotary table dynamic coupling was presented. This strategy need not depend on the accurate modeling of the study object and it is very easy to be accomplished. The simulation result shows that this coupling control strategy is valid and the rotary table has obtained a good position accuracy and velocity smoothness. At last the paper verifies this control strategy in the practical application and the rotary table actually obtains a good control performance using this control strategy.
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Received: 20 May 2010
Published: 28 February 2011
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