Study on Multi-axial Path Control System and its Application

在这项研究中，我提出了一种新的带搜索的路径控制方法及其应用。搜索与当前位置距离最小的所需点，并沿坐标变换的标准轴设置该距离。将直角坐标系中的多轴机械系统变换为转动坐标系中的机械系统。变换后的系统可以解耦并分解为路径误差分量和运动方向误差分量。路径误差分量近似等于路径误差分量的控制系统可以收敛到零的路径误差。利用总的移动距离估计移动方向的误差分量，并通过运动方向误差分量的控制系统将当前位置收敛到期望位置。随后，利用该方法可以实现任意曲线路径的基本路径控制，并将该方法推广到三维空间。将该控制方法应用于多轴直线电机工作台，并通过实验验证了其有效性。我还将所提出的方法应用于实际系统中，如NC台式铣床、两轮或三轮车、力显示等，并检验了这些实用方法的实用性。

In this study, I present a new path control method with search and the application of the method. A desired point that is at a minimum distance from the present position is searched and the distance is set along the standard axis of the coordinate transformations. A multi-axial mechanical system in an orthogonal coordinate system is transformed into a mechanical system in a rotational and moving coordinate system. The transformed system can be decoupled and decomposed into a path error component and a error component of moving direction. The path error component is approximately equal to the path error that can converge to zero by the control system of the path error component. The error component of moving direction is evaluated by means of the total moving distance and the present position is converge to a desired position by the control system-of the error component of moving direction. Subsequently, essential path control for arbitrary curve paths can be realized by using the proposed method.I have also extended the proposed method to 3-dimentional space. I have applied the control method to multi-axis linear motor tables, and its effectiveness is confirmed experimentally. I have also applied the proposed methods to practical systems such as NC Bench milling machines, two or three wheeled vehicles, force displays and so on, and examined these practical utility.