Analysis and design of the integrated controller for precise motion systems
Analysis and design of the integrated controller for precise motion systems
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DOI：
10.1109/87.799671
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发表时间：
1999-11
期刊：
影响因子：
--
通讯作者：
S. Yeh;P. Hsu
中科院分区：
文献类型：
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作者：
S. Yeh;P. Hsu
最近，前馈控制器，如零相位误差跟踪控制器（ZPETC）和交叉耦合控制器（CCC）已被开发，以有效地减少跟踪误差和轮廓误差，分别。本文提出了一种综合控制器，结合ZPETC和CCC，以实现跟踪和轮廓精度。此外，研究表明，ZPETC和CCC可以分开设计，在目前的综合控制设计。在所提供的实验装置与伺服工作台，一个最佳的ZPETC和一个强大的CCC的轮廓误差传递函数（CETF）的基础上设计，以实现理想的频率响应和稳定性。实验结果表明，所提出的集成控制器呈现显着改善的跟踪和轮廓的精度。
Recently, feedforward controllers like zero phase error tracking controllers (ZPETC) and cross-coupled controllers (CCC) have been developed to effectively reduce tracking error and contouring error, respectively. This paper proposes an integrated controller which combines ZPETC and CCC to achieve both tracking and contouring accuracy. Furthermore, studies indicate that ZPETC and CCC can be designed separately in the present integrated control design. In the provided experimental setup with a servo table, an optimal ZPETC and a robust CCC based on the contouring error transfer function (CETF) were designed to achieve desirable frequency responses and stability. Experimental results show that the proposed integrated controller renders significantly improved accuracy in both tracking and contouring.