Abstract：A contouring control scheme was proposed for direct drive XY table combining iterative learning control (ILC) and complementary sliding mode control (CSMC) in the global task coordinate frame (GTCF), in order to solve the problem of poor precision when processing high speed or sharp corner contours. Firstly, the error model was constructed by the derivative of actual contouring error. The contouring error and trajectory are used as control variables to establish the GTCF, which enables the system to operate in coordination. Then, the unmodelled dynamics in the contouring tracking process were compensated by ILC, and CSMC was used to suppress the influence of uncertainties such as parameters changing, external disturbances and so on in the direct drive XY table servo system. Finally, the system experimental results show that the proposed method has strong robustness and fast contouring tracking performance. It can achieve more accurate control performance, reduce the contouring error, and improve the high precision contouring machining performance of the direct drive XY table servo system.
原浩, 赵希梅. 基于全局任务坐标系的直驱XY平台学习互补滑模轮廓控制[J]. 电工技术学报, 2020, 35(10): 2141-2148.
Yuan Hao, Zhao Ximei. Learning Complementary Sliding Mode Contouring Control Based on Global Task Coordinate Frame for Direct Drive XY Table. Transactions of China Electrotechnical Society, 2020, 35(10): 2141-2148.
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2020, Vol. 35 
