Abstract：A precision contouring tracking control method was proposed to solve the problem that direct drive XY table has poor accuracy when machining high feed rates and sharp corner contours. Firstly, a cost function for the contouring error was established using the reference contour and current position information. Newton extremum seeking algorithm was used to establish dynamic CEE. Then, the contouring error was reduced by iterative learning control (ILC), and the ILC results were used to adjust the reference contour to form a modified reference contour for better tracking performance. Therefore, the profile accuracy was developed. The complementary sliding mode controller (CSMC) was used to suppress the influence of uncertainties in the system such as parameter changing, external disturbances, nonlinear friction and so on. The robust performance and tracking performance of single axis were enhanced. Finally, the system experimental results show that the proposed method can improve the control performance significantly and reduce the contouring error. The high precision contouring machining performance of the direct drive XY table servo system is also improved.
原浩, 赵希梅. 一种直驱XY平台精密轮廓跟踪控制方法[J]. 电工技术学报, 2020, 35(14): 2979-2986.
Yuan Hao, Zhao Ximei. A Precision Contouring Tracking Control Method for Direct Drive XY Table. Transactions of China Electrotechnical Society, 2020, 35(14): 2979-2986.
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2020, Vol. 35 
