精密加工的实时预测控制
Real-Time Predictive Control for Precision Machining
摘要：
精确定位和快速移动对于实现高生产率和加工规模至关重要。本文比较了两种基于优化的预测控制方法，实现高性能。在第一种方法中，使用全局位置定义轮廓误差，通过虚拟路径参数推断路径上的位置，并且代价函数结合相应的状态和输入以实现高速和定位精度之间的折衷。第二种方法是基于沿着路径的误差和进度的局部定义，并且导致具有减少的状态和输入的数量的系统，从而实现实时优化。需要终端和信赖域约束来实现对存在快速或瞬时方向变化的几何形状的精确跟踪。这两种方法使用不同的二次规划求解器的性能进行评估，在机床应用中具有挑战性的几何形状的模拟。
英文摘要：
Precise positioning and fast traversal times are crucial in achieving high productivity and scale in machining. This paper compares two optimization-based predictive control approaches that achieve high performance. In the first approach, the contour error is defined using the global position, the position on the path is inferred through a virtual path parameter, and the cost function combines the corresponding states and inputs to achieve a trade-off between high speed and positioning accuracy. The second approach is based on a local definition of both the error and the progress along the path, and results in a system with a reduced number of states and inputs that enables real-time optimization. Terminal and trust region constraints are required to achieve precise tracking of geometries where a fast or instantaneous change in direction is present. The performance of both approaches using different quadratic programming solvers is evaluated in simulations for geometries that are challenging in machine tools applications.
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