Two-degree-of-freedom based cross-coupled control for high-accuracy tracking systems

被引：0

作者：

Yang, Jiangzhao ^{[1
]}

Xu, Jijie

Li, Zexiang ^{[1
]}

机构：

[1] Harbin Inst Technol, Shezhen Grad Sch, Div Control & Mechatron, Shenzhen 518055, Peoples R China

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING, VOLS 1-3 | 2007年

关键词：

two-degree-of-freedom; cross-coupled control; contour control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Recent work recognizes that cross-coupled control (CCC) can significantly improve the accuracy of contour tracking in biaxial systems. However, it's complicated to apply CCC to arbitrary contour because of extra requirements to calculation and switching the cross-coupled gains. In addition, since most of CCC are based on the PID controlled loops of the individual axes, performances are conserved in some sense. In this paper, we propose a structure for arbitrary regular contours by efficiently determining the cross-coupling gains for CCC with the two-degree-of-freedom (2DOF) controlled to the single axes. Furthermore, an approach for stability analysis of the CCC is posed. Experimental results for a two-axial motion system indicate that the proposed structure eliminates the contouring error significantly.

引用

页码：25 / 30

页数：6