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首页> 外文期刊>Mechatronics: The Science of Intelligent Machines >Cross-coupling position command shaping control in a multi-axis motion system
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Cross-coupling position command shaping control in a multi-axis motion system

机译：多轴运动系统中的交叉耦合位置指令整形控制

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摘要

A new structure of a cross-coupling position command shaping controller (CPCSC) for precise tracking in multi-axis motion control is proposed in this paper. This controller feedforwards the cross-coupling terms, based on the geometrical relationship between the tracking and contouring errors, to compensate for the contouring error in real-time. Compared with the conventional multi-axis cross-coupling control (CCC) system, this new structure has the advantage that its compensators in CCC have a simpler design process than conventional ones, as does its stability analysis. The proposed controller is evaluated and compared experimentally with a traditional uncoupled and a conventional CCC controller on a multi-axis positioning system controlled by microcomputer. The experimental results show that the new structure remarkably reduces contour error. In addition, this new controller can be implemented easily on most current systems by reprogramming the reference position command subroutine.
机译：提出了一种用于多轴运动控制中精确跟踪的交叉耦合位置指令整形控制器（CPCSC）的新结构。该控制器基于跟踪和轮廓误差之间的几何关系，将交叉耦合项前馈，以实时补偿轮廓误差。与传统的多轴交叉耦合控制（CCC）系统相比，这种新结构的优势在于，其CCC中的补偿器与稳定性分析一样，其设计过程比常规补偿器更简单。在微机控制的多轴定位系统上，对提出的控制器进行了评估，并与传统的不耦合控制器和常规的CCC控制器进行了实验比较。实验结果表明，新结构显着降低了轮廓误差。此外，通过重新编程参考位置命令子例程，可以在大多数当前系统上轻松实现此新控制器。

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