Iterative Learning and Modify Adaptive Disturbance Compensate Method for Contour Control of X-Y Table

The servo control system of the biaxial X-Y table has a large contour error mainly owing to the existence of uncertainties, dynamic inconsistency and complex contour processing. This paper uses the integrated contouring control scheme with an iterative learning control and modified disturbance adaptive compensator (MDAC) for the linear motor drives X-Y table. For the repetition of the contouring tracking question, firstly, the tracking error was decoupled into tangential and normal error used transform matrix under task coordinate frame. Then, the normal contour error was compensated by an PID iterative learning control (ILC). The MDAC control was used for offsetting the load disturbances which are taken as one of the main sources of uncertainties. The compensator used the output of virtual plant for feedback signal instead of estimation force of traditional compensated structure. The method eliminated influences of both the measure noise and load disturbances. Simulation results the proposed scheme can ensure the system has the higher contour accuracy than traditional method, the maximum contour error can be reduced by about 90%.