Motion Controller Design for Contour-Following Tasks Based on Real-Time Contour Error Estimation
Motion Controller Design for Contour-Following Tasks Based on Real-Time Contour Error Estimation
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DOI：
10.1109/tie.2007.894691
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发表时间：
2007-04
影响因子：
7.7
通讯作者：
M. Cheng;Cheng-Chien Lee
中科院分区：
文献类型：
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作者：
M. Cheng;Cheng-Chien Lee
轮廓误差的减小是轮廓跟踪应用中的一个重要问题。解决这一问题的常用方法之一是基于轮廓误差信息设计控制器。然而，对于自由形状的轮廓跟踪任务，缺乏有效的实时计算轮廓误差的算法。针对这一问题，本文提出了一种实时轮廓误差估计算法。此外，采用位置环控制器（利用速度指令前馈）和切向轮廓控制器（TCC）相结合的运动控制方案来提高轮廓跟踪精度。在实现TCC时，需要一个坐标变换矩阵。然而，在进行自由形状轮廓跟踪任务时，坐标变换矩阵的计算比较困难。为了克服这一困难，方便轮廓控制器的使用，采用一种系统的方法推导了自由形状轮廓跟踪任务的坐标变换矩阵。实验结果证明了所提出的轮廓误差估计算法和运动控制方案的有效性
Reduction of contour error is an important issue in contour-following applications. One of the common approaches to this problem is to design a controller based on contour error information. However, for the free-form contour-following tasks, there is a lack of effective algorithms for calculating contour errors in real time. To deal with this problem, this paper proposes a real-time contour error estimation algorithm. In addition, a motion control scheme that combines a position loop controller (which utilizes a velocity command feedforward) with a tangential-contouring controller (TCC) is employed to improve the contour-following accuracy. When implementing the TCC, a coordinate transformation matrix is needed. Unfortunately, it is difficult to calculate the coordinate transformation matrix when performing the free-form contour-following task. To overcome this difficulty and facilitate the use of contour controllers, a systematic approach is employed to derive the coordinate transformation matrix for the free-form contour-following tasks. Experimental results demonstrate the effectiveness of the proposed contour error estimation algorithm and the motion control scheme