Predictive Contour Control With Adaptive Feed Rate
Predictive Contour Control With Adaptive Feed Rate
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DOI：
10.1109/tmech.2011.2119324
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发表时间：
2012-08
期刊：
影响因子：
--
通讯作者：
Lie Tang;R. Landers
中科院分区：
文献类型：
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作者：
Lie Tang;R. Landers
轮廓控制是运动系统开发中的一个重要问题。本文提出了一种结合预测控制和自适应进给速度的轮廓控制方法。为了减少在线优化所需的计算时间，首先设计了一个简单的无约束模型预测控制器来执行双轴轮廓位置控制。本文介绍的性能指标允许设计者操纵轮廓误差，轴向跟踪误差和控制使用之间的重要性。控制器，然后实现跟踪钻石和自由形式的轮廓。结果表明，该控制器不仅能够跟踪高精度的轮廓（轮廓和轴向）的稳态运动，但也提高了轮廓精度在过渡时期。为了进一步减小过渡阶段的轮廓误差，提出了一种自适应进给速度方案，该方案利用预测的轮廓误差在线调整进给速度。这种自适应进给速度计划进行了实验验证，使用钻石和limacon轮廓。结果表明，在恒定的进给速度的计划相比，所提出的自适应进给速度计划是能够显着减少在高进给速度的瞬态轮廓误差，同时保持可比的跟踪性能在低进给速度。
Contour control is an important issue in motion system development. In this paper, a contour-control methodology combining predictive control and adaptive feed rate is proposed. To reduce the computational time required for online optimization, a simple unconstrained model predictive controller is first designed to perform biaxial contour-position control. The performance index introduced in this paper allows the designer to manipulate the importance between contour error, axial tracking error, and control usage. The controller is then implemented to track diamond and free-form contours. The results demonstrate that the controller is capable of not only tracking both contours with high precision (contour and axial) for steady motions, but also improving contour precision during transient periods. To further reduce the contour error during transient periods, an adaptive feed-rate scheme is proposed, which utilizes the predicted contour error to adjust the feed rate online. This adaptive feed-rate scheme is experimentally validated using diamond and limacon contours. The results demonstrate that in comparison with constant feed-rate schemes, the proposed adaptive feed-rate scheme is capable of significantly reducing the transient contour error at high feed rates, while maintaining comparable tracking performance at low feed rates.