Error Space Motion Control Methodology for Complex Contours

Abstract

A general precision motion control methodology for complex contours is proposed in this paper. Each servomechanism dynamic model is divided into a linear portion and a portion containing nonlinear friction, unmodeled dynamics and unknown disturbances. A full state feedback controller, based on a state space error system model, is developed to track general reference trajectories. The lumped friction effects are described using the Tustin friction model. Unmodeled dynamics and disturbances are estimated using a Kalman filter that employs a first-order stochastic model. The nonlinear friction, unmodeled dynamics and disturbances are directly cancelled by the controller. Experiments are conducted on a two- axis laboratory grade machine tool for limacon and freeform contours. The results demonstrate the excellent tracking performance of the proposed motion control methodology.

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Complex Contours; Feedback Controller; Motion Control; State Space Error System Model; Tustin Friction Model

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2005 Chinese Automatic Control Society, All rights reserved.

Publication Date

01 Jan 2005

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