Simple adaptive contouring control for feed drive systems using jerk-based augmented output signal

Reducing energy consumption while maintaining high contouring accuracy for industrial machinery is a highly desirable goal. Simple adaptive control (SAC) is a practical technique that can achieve high tracking accuracy and energy saving by adjusting control parameters in real time to ensure that the system responds as the reference model. Implementation of the SAC technique requires that the "almost strict property real (ASPR)" property is satisfied. The ASPR property guarantees the stability of the controlled system even when adaptive gains are high. This paper proposes simple adaptive contouring control (SACC) using jerk-based augmented output signal for the ASPR property. SACC is designed by following the tangent-contour control scheme while using the SAC technique to enhance the contouring accuracy. Jerk-based augmented output signal ensures that the ASPR property is met and allows the SACC to track accurately the desired contour at high frequency. The proposed contouring approach achieves lower contour error and energy consumption by about 45%, and 3% respectively, as compared to the most common parallel feedforward compensation approach.