Biaxial contouring control with friction dynamics using a contour index approach
Biaxial contouring control with friction dynamics using a contour index approach
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DOI：
10.1016/j.ijmachtools.2006.11.008
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发表时间：
2007-08
影响因子：
14
通讯作者：
Chao-Chung Peng;Chieh-Li Chen
中科院分区：
文献类型：
--
作者：
Chao-Chung Peng;Chieh-Li Chen
在传统的设计中，轮廓控制通常被分解成独立的轴跟踪任务。其成功依赖于每个轴的良好跟踪性能，当每个轴的动力学彼此不同并且受到非线性摩擦和负载变化时，很难实现。另外，轮廓控制中的另一个困难是轮廓误差模型的公式化和轮廓误差的实时估计。因此，在本文中，轮廓跟踪策略的发展，以提高轮廓精度，而不依赖于轴向跟踪性能。提出的轮廓误差模型，制定系统的基础上的协调转换方案。轮廓指数（CI）的几何评价，它可以被视为一个等效的轮廓误差，使CI的减少意味着减少轮廓误差。与所提出的方法，得到的轮廓性能不会下降，如果每个轴的跟踪任务没有被精确地执行。使用双轴线性平台进行了实验，结果表明，即使在存在不期望的跟踪滞后的情况下，在高进给速率下仍然保持轮廓质量。
In conventional designs, contouring control is usually decomposed into independent tracking tasks of axes. Its success relies on good tracking performance of each axis, which is difficult to achieve when the dynamics of each axis is different from each other and subjected to nonlinear frictions and load variations. Additionally, another difficulty in contouring control is the formulation of a contouring error model and real-time estimation of contouring error. Therefore, in this paper, a contour following strategy was developed to improve contouring accuracy without depending on axial tracking performance. The proposed contouring error model is formulated systematically based on the coordinated transformation scheme. A contour index (CI) is evaluated geometrically, which can be treated as an equivalent contour error such that a reduction in CI implies a reduction in contour error. With the proposed approach, the resulting contour performance will not be degraded if the tracking task of each axis is not carried out precisely. Experiments were conducted using a bi-axial linear stage and the results demonstrate that the contouring qualities were still maintained at high feed-rates even in the presence of undesirable tracking lags.