Cross-coupled controller design for triaxial motion systems based on second-order contour error estimation

作     者：ZHAO Huan ZHU LiMin DING Han 

作者机构：State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2015年第58卷第7期

页      面：1209-1217页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.51325502 and 51405175) the National Basic Research Program of China("973"Project)(Grant No.2011CB706804) the National Science and Technology Major Projects of China(Grant No.2012ZX04001-012-01-05) 

主　　题：cross-coupled controller contour error cross-coupled gains triaxial motion system computer numerical control (CNC) 

摘      要：The cross-coupled control(CCC)is widely applied to reduce contour errors in contour-following *** such situation,the contour error estimation plays an important ***,the linear or second-order estimation approach is adopted for biaxial motion systems,whereas only linear approach is available for triaxial *** this paper,the second-order contour error estimation,which was presented in our previous work,is utilized to determine the variable CCC gains for motion control systems with three *** integrated stable motion control strategy,which combines the feedforward,feedback and CCC controllers,is developed for multiaxis CNC *** results on a triaxial platform indicate that the CCC scheme based on the second-order estimation,compared with that based on the linear one,significantly reduces the contour error even in the conditions of high tracking feedrate and small radius of curvature.