مقاله Cross-coupling position command shaping control in a multi-axis motion system : تی پی بین

خلاصه مقاله

A new structure of a cross-coupling position command shaping controller (CPCSC) for precise tracking in multi-axis motion control is proposed in this paper. This controller feedforwards the cross-coupling terms, based on the geometrical relationship between the tracking and contouring errors, to compensate for the contouring error in real-time. Compared with the conventional multi-axis cross-coupling control (CCC) system, this new structure has the advantage that its compensators in CCC have a simpler design process than conventional ones, as does its stability analysis. The proposed controller is evaluated and compared experimentally with a traditional uncoupled and a conventional CCC controller on a multi-axis positioning system controlled by microcomputer. The experimental results show that the new structure remarkably reduces contour error. In addition, this new controller can be implemented easily on mostcurrent systems by reprogramming the reference position command subroutine.

نویسندگان

Chin-Sheng Chen [ Institute of Automation Technology, National Taipei University of Technology, Taiwan, ROC ]

Li-Yeh Chen [ Institute of Automation Technology, National Taipei University of Technology, Taiwan, ROC ]

کلمات کلیدی

Cross coupling position command shaping controller Multi axis motion control Contour error

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مشاهده مقالات

Mechatronics 2011

The Science of Intelligent Machines Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence.

حوزه های تحت پوشش : mechanical engineering , electronic control , systems thinking