Task Polar Coordinate Frame-Based Contouring Control of Biaxial Systems
Task Polar Coordinate Frame-Based Contouring Control of Biaxial Systems
复制标题
双轴系统基于极坐标系的轮廓控制任务
DOI：
10.1109/tie.2013.2282609
复制
发表时间：
2014-07
影响因子：
7.7
通讯作者：
Xin Chen
中科院分区：
文献类型：
--
作者：
Yunjiang Lou;Hao Meng;Jiangzhao Yang;Zexiang Li;Jian Gao;Xin Chen
Contouring control is crucial in high-speed and high-precision manufacturing. In this paper, a novel task polar coordinate frame (TPCF), moving along the desired contour, is proposed to naturally calculate and control the estimated contouring error by the circular approximation, a second-order approximation. The dynamics in the world Cartesian coordinate frame is transformed into radial and angular dynamics in the local polar coordinate frame. By the feedback linearization technique and an input feedforward compensation, the closed-loop dynamics are decoupled in terms of the estimated contouring error and the angular error, respectively. Proportional-plus-derivative controllers can be assigned to stabilize the individual axis dynamics in the TPCF. By tuning the control parameters, different strengthening on estimated contouring error and angular error can be imposed explicitly and directly. Various experiments on an XY-stage biaxial system with typical contours, a circle and a figure-“8,” were conducted. Comparative studies are carried out for the TPCF- and traditional Frenet frame-based controls. The contouring errors were drastically reduced by the proposed approach, particularly in high-speed and large-curvature contouring cases.
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影响因子：
7.7
作者：
Chin-Sheng Chen;Li-Yeh Chen
通讯作者：
Chin-Sheng Chen;Li-Yeh Chen
DOI：
10.1109/tmech.2010.2048718
发表时间：
2011-08
期刊：
IEEE/ASME Transactions on Mechatronics
影响因子：
--
作者：
Jiangzhao Yang;Zexiang Li
通讯作者：
Jiangzhao Yang;Zexiang Li
影响因子：
7.7
作者：
M. Cheng;Cheng-Chien Lee
通讯作者：
M. Cheng;Cheng-Chien Lee
DOI：
10.1016/j.ijmachtools.2012.07.012
发表时间：
2012-12
影响因子：
14
作者：
Feng Huo;A. Poo
通讯作者：
Feng Huo;A. Poo
DOI：
10.1109/acc.1997.611952
发表时间：
1997-06
期刊：
Proceedings of the 1997 American Control Conference (Cat. No.97CH36041)
影响因子：
--
作者：
G.T.-C. Chiu;B. Yao
通讯作者：
G.T.-C. Chiu;B. Yao