Abstract：A precision contouring control scheme combining dynamic contouring error estimation (CEE) and complementary sliding mode controller (CSMC) is proposed for dual axis direct drive platform, in order to implement high precision contouring control with machining high feed rate or sharp corner contours. Firstly, dynamic equations of dual linear servo system with uncertainties, such as parameters changing and friction, are established. Then, a dynamic CEE based on Newton extremum seeking algorithm is adopted. The gradient vector and Hessian matrix of contouring error parameters are updated at each sampling point. The proposed algorithm has fast convergence rate and good transient performance. The modified error formed by tracking error and contouring error estimation is used as the input of the CSMC. The influence of system uncertainties is suppressed by CSMC, the robustness of the system is enhanced. The experimental results show that the control method can significantly improve the control performance and reduce the contouring error. The contour machining accuracy of the dual axis direct drive platform servo system is also improved.
原浩, 赵希梅. 基于动态轮廓误差估计的双轴直驱平台精密轮廓控制[J]. 电工技术学报, 2019, 34(21): 4474-4480.
Yuan Hao, Zhao Ximei. Precision Contouring Control Based on Dynamic Contouring Error Estimation for Dual Axis Direct Drive Platform. Transactions of China Electrotechnical Society, 2019, 34(21): 4474-4480.
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2019, Vol. 34 
