Motion Controller Design for Contour-Following Tasks Based on Real-Time Contour Error Estimation
Ming-Yang Cheng; Cheng-Chien Lee
Industrial Electronics, IEEE Transactions on
Volume 54, Issue 3, June 2007 Page(s):1686 - 1695
Digital Object Identifier 10.1109/TIE.2007.894691
Summary:Reduction of contour error is an important issue in contour-following applications. One of the common approaches to this problem is to design a controller based on contour error information. However, for the free-form contour-following tasks, there is a lack of effective algorithms for calculating contour errors in real time. To deal with this problem, this paper proposes a real-time contour error estimation algorithm. In addition, a motion control scheme that combines a position loop controller (which utilizes a velocity command feedforward) with a tangential-contouring controller (TCC) is employed to improve the contour-following accuracy. When implementing the TCC, a coordinate transformation matrix is needed. Unfortunately, it is difficult to calculate the coordinate transformation matrix when performing the free-form contour-following task. To overcome this difficulty and facilitate the use of contour controllers, a systematic approach is employed to derive the coordinate transformation matrix for the free-form contour-following tasks. Experimental results demonstrate the effectiveness of the proposed contour error estimation algorithm and the motion control scheme
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