標題: Perfectly matched feedback control and its integrated design for multiaxis motion systems
作者: Yeh, SS
Hsu, PL
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 1-九月-2004
摘要: For motion systems with multiple axes, the approach of matched direct current gains has been generally, adopted to improve contouring accuracy under low-speed operations. To achieve high-speed and high-precision motion in modern manufacturing, a perfectly matched feedback control (PMFBC) design for multiaxis motion systems is proposed in this paper. By applying stable pole-zero cancellation and including complementary zeros for uncancelled zeros for all axes, matched dynamic responses across the whole frequency range for all axes are achieved. Thus, contouring accuracy for multiaxis systems is guaranteed for the basic,feedback loops. In real applications, the modeling error is unavoidable and the degradation and limitations of the model-based PMFBC exist. Therefore, a newly designed digital disturbance observer is proposed to be included in the proposed PMFBC structure for each axis to compensate,for undesirable nonlinearity and disturbances to maintain the matched dynamics among all axes for the PMFBC design. Furthermore, the feedforward control loops zero phase error tracking controller are employed to reduce tracking errors. Experimental results on a three-axis CNC machining center indicate that both contouring accuracy and tracking accuracy are achieved by applying the present PMFBC design.
URI: http://dx.doi.org/10.1115/1.1789970
http://hdl.handle.net/11536/26429
ISSN: 0022-0434
DOI: 10.1115/1.1789970
期刊: JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
Volume: 126
Issue: 3
起始頁: 547
結束頁: 557
顯示於類別:期刊論文


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