Contour Tracking Control Based on Extended State Observer for Multiaxis Motion System

Abstract

In the contouring process, the trajectory generated by the computer numerical control (CNC) machine tool is a result of the multiaxis coordinated motion. The contour error has a direct impact on the accuracy of the machined product. To obtain higher contouring accuracy of the multiaxis motion control system, this paper presents a cross-coupled control approach based on the extended state observer sliding mode control. First, a single-axis sliding mode controller is designed, and an extended state observer is used to estimate system disturbances and improve the system robustness. Then, the cross-coupled control approach handles the coordinated motion of multiple axes to improve the contour control accuracy. Next, a simulation study is conducted on the three-axis motion platform. Its result shows that the control algorithm is effective in reducing tracking errors and contour errors.