在多轴同步系统中，同步控制的目标包括降低同步误差，减小跟踪误差。针对普通偏差耦合控制在实际应用中的问题，对其结构进行改进。该结构通过引入虚拟主轴，虚拟主轴在参考各轴反馈转速的同时，同步完成各轴转速给定补偿，优化了同步控制性能，简化了转速补偿结构。然后，通过结合模糊补偿，可自适应修正控制参数。最后，通过机构运动进行了试验验证，试验结果表明该控制方法相对传统偏差耦合控制结构，在简化系统结构的同时，可进一步提高同步控制性能，在存在负载扰动的运行工况下，可有效降低跟踪误差。该方法也为相关领域的同步控制提供了参考。

In the multiaxis synchronous system, the main objective of synchronous control is to reduce the synchronous error and tracking error. Firstly, to solve the problem of traditional relative coupling control in practice, an improved relative coupling control structure is proposed. The virtual master axis is added in the structure. While referring to the feedback speed of each axis, the virtual master axis synchronously completes the given compensation of the speed of each axis. The synchronous control performance is optimized and the speed compensation structure is simplified. Secondly, combined with the fuzzy compensation, the adaptive correction of control parameters is realized. Finally, the experiment of the mechanism is carried out. The results show that, compared with traditional relative coupling control structure, the proposed control method can simplify system structure and improve synchronous performance, and the tracking error can be reduced obviously in the load disturbance circumstance. The proposed method provide a reference value in the synchronous system.

国家自然科学基金项目 (51905532）