谢翰君　王钦若

（广东工业大学自动化学院，广东 广州 510000）

摘要：针对龙门同步双驱（GSD）平台因负载不均导致的同步误差影响加工精度的问题，目前的研究大多忽略了双驱轴之间的交叉耦合效应，或者重负载在龙门架横梁上的位置变化对同步误差的影响。为解决这一问题，首先，通过定义龙门架横梁的虚拟质心，量化双驱电机之间的交叉耦合力；然后，设计一种基于虚拟质心的GSLQR最优控制和力前馈解耦控制算法；最后，进行仿真实验。仿真实验结果表明，该算法的同步误差最大值比GSLQR最优控制算法和推力分配算法分别降低了约70%和60%，提高了GSD平台的同步性能和运动性能。

关键词：龙门同步双驱平台；龙门同步线性二次调节器；最优控制；力前馈解耦控制；虚拟质心；重负载

中图分类号：TP13            文献标志码：A            文章编号：1674-2605(2024)03-0003-07

DOI：10.3969/j.issn.1674-2605.2024.03.003

GSLQR Optimal Control and Force Feedforward Decoupling Control Algorithm Based on Virtual Centroid 

XIE Hanjun  WANG Qinruo

(School of Automation, Guangdong University of Technology, Guangzhou 510000, China) 

Abstract: In response to the problem of synchronization errors affecting machining accuracy caused by uneven load on the gantry synchronous dual drive (GSD) platform, current research has mostly ignored the cross-coupling effect between the dual drive shafts, or the impact of changes in the position of heavy loads on the gantry crossbeam on synchronization errors. To solve this problem, first, quantify the cross-coupling force between the dual drive motors by defining the virtual center of mass of the gantry crossbeam; Then, design a GSLQR optimal control and force feedforward decoupling control algorithm based on virtual centroid; Finally, conduct simulation experiments. The simulation experiment results show that the maximum synchronization error of the algorithm is reduced by about 70% and 60% compared to the GSLQR optimal control algorithm and thrust allocation algorithm, respectively, improving the synchronization and motion performance of the GSD platform.

Keywords: gantry synchronous dual drive platform; gantry synchronous linear quadratic regulator; optimal control; force feedforward decoupling control; virtual centroid; heavy load