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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Dynamic Contour Error Estimation and Feedback Modification for High-Precision Contouring
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Dynamic Contour Error Estimation and Feedback Modification for High-Precision Contouring

机译：高精度轮廓的动态轮廓误差估计和反馈修改

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摘要

Cross-coupling control (CCC), which acts on contour error, is intended to improve contouring precision of multiaxis servosystems. The contour error estimate (CEE) significantly affects contouring precision. Conventional CEE methods rely on static single-point techniques to reconstruct contour error using current position error and an estimate of the reference map at the lead point. The performance of such static CEE methods deteriorates dramatically with increasing contour feedrate and at sharp corners. Hence, a dynamic CEE algorithm based on the Newton update algorithm is proposed to achieve high-precision CEE. Since the convergence rate of the Newton algorithm is user assignable and independent of the reference contour, the proposed CEE stays almost identical to the contour error for vastly different feedrates or sharp corners. Multiaxis cross-coupling adds more design steps for the position control loops. Therefore, in this paper, feedback signals are modified such that a separate cross-coupling controller is no longer needed. It has been shown, analytically and experimentally, that the modified feedback in combination with integral sliding mode control provides simpler design and fewer steps in comparison to conventional CCC designs. Moreover, the proposed CEE and the concept of modified feedback together result in reduced contour error. Various experiments are reported to show the effectiveness of the proposed algorithm at high feedrates and for sharp corners.
机译：交叉耦合控制（CCC）会影响轮廓误差，旨在提高多轴伺服系统的轮廓精度。轮廓误差估计（CEE）会严重影响轮廓精度。常规的CEE方法依靠静态单点技术使用当前位置误差和在起点的参考图的估计来重建轮廓误差。此类静态CEE方法的性能会随着轮廓进给率的提高和尖角而急剧恶化。因此，提出了一种基于牛顿更新算法的动态CEE算法，以实现高精度的CEE。由于牛顿算法的收敛速度是用户可分配的，并且与参考轮廓无关，因此对于非常不同的进给速度或尖角，建议的CEE几乎与轮廓误差相同。多轴交叉耦合为位置控制回路增加了更多的设计步骤。因此，在本文中，修改了反馈信号，从而不再需要单独的交叉耦合控制器。从分析和实验上已经表明，与传统的CCC设计相比，改进的反馈与整体滑模控制相结合提供了更简单的设计和更少的步骤。此外，建议的CEE和修改后的反馈概念共同导致轮廓误差降低。据报道，各种实验表明了该算法在高进给率和锐角下的有效性。

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