A Novel Contour Error Estimation for Position Loop-Based Cross-Coupled Control
A Novel Contour Error Estimation for Position Loop-Based Cross-Coupled Control
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DOI：
10.1109/tmech.2010.2048718
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发表时间：
2011-08
期刊：
影响因子：
--
通讯作者：
Jiangzhao Yang;Zexiang Li
中科院分区：
文献类型：
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作者：
Jiangzhao Yang;Zexiang Li
减少轮廓误差是轮廓跟随应用中的主要控制目标。一种常见的方法是直接根据轮廓误差设计控制器。在这种情况下，轮廓误差估计是轮廓跟踪操作中的关键因素。轮廓误差可以通过从实际位置到期望位置处的切线或平面的线性距离来近似。这种方法由于线性近似而遭受显著的误差。提出了一种计算任意光滑路径轮廓误差的新方法。所提出的方法是基于坐标变换和圆形近似。在该方法中，轮廓误差由相对于特定虚拟坐标系的实际位置的坐标表示。该方法被结合在基于位置环的交叉耦合控制结构中。一个等效的鲁棒控制系统被用来建立闭环系统的稳定性。实验结果表明，所提出的轮廓误差估计算法和运动控制策略的效率和性能。
Reduction of contour error is the main control objective in contour-following applications. A common approach to this objective is to design a controller based on the contour error directly. In this case, the contour error estimation is a key factor in the contour-following operation. Contour error can be approximated by the linear distance from the actual position to the tangent line or plane at the desired position. This approach suffers from a significant error due to linear approximation. A novel approach to contour error calculation of an arbitrary smooth path is proposed in this paper. The proposed method is based on coordinate transformation and circular approximation. In this method, the contour error is represented by the coordinate of the actual position with respect to a specific virtual coordinate frame. The method is incorporated in a position loop-based cross-coupled control structure. An equivalent robust control system is used to establish stability of the closed-loop system. Experimental results demonstrate the efficiency and performance of the proposed contour error estimation algorithm and the motion control strategy.