Adaptive robust contour tracking of machine tool feed drive systems-a task coordinate frame approach
Adaptive robust contour tracking of machine tool feed drive systems-a task coordinate frame approach
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DOI：
10.1109/acc.1997.611952
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发表时间：
1997-06
期刊：
影响因子：
--
通讯作者：
G.T.-C. Chiu;B. Yao
中科院分区：
文献类型：
--
作者：
G.T.-C. Chiu;B. Yao
We show that contouring performance can be viewed as a regulation problem in a curvilinear task coordinate frame that is attached to the desired contour. By transforming the machine tool feed drive dynamics to this task coordinate frame, an adaptive robust control (ARC) law is derived to improve the contouring performance under system parameter variation and bounded disturbances. The resulting control law is in essence a time varying PID control law with built in integral anti-windup. The effectiveness of the proposed control law is demonstrated through the simulated control of an industrial CNC machine tool feed drive system.
