二自由度混合驱动机器实时在线误差补偿实验

针对混合驱动压力机的工作特点，以变结构控制策略为基础，提出基于逆运动学理论的混合驱动压力机运动控制实时在线误差补偿的运动控制方法，并开发控制软件，分别对混合驱动压力机实验机构无载和有载工况的实验结果进行对比．结果表明，滑块理想位移曲线与误差实时在线补偿得到的滑块实际位移曲线吻合度很好，经过误差补偿得到的机构最大拉深位移误差无载时仅为0．9％，而有载时误差为3．1％．说明实时在线误差补偿运动控制理论对混合驱动机构的运动误差补偿是有效的，其控制精度、快速响应和稳定性都达到运动控制的要求．

Experiment of Real-Time Error Compensation for 2-DOF Hybrid-Driven Machine

Based on the characteristics of the hybrid-driven machine, the control strategy of variable-structure was discussed and the method of real-time error compensation by the inverse kinematics was proposed with the software developed. The experimental results under the different operating modes with load or without load show that the displacement obtained by the real-time error compensation experimental software is accorded with the theoretical displaeement of slider primely. The biggest drawing displacement errors after error compensation are only 0.9% without load and 3.1% with load respectively. The results show that the eontrol strategy and the method of real-time error compensation are effective, and the control precision, the rapidity and the stability all meet the demand of the motion control.