Cross-Coupled Control of Biaxial Feed Drive Servomechanisms

Abstract

A cross-coupled controller, designed to improve high-speed contouring accuracy independently of tracking accuracy in biaxial machine tool feed drive servomechanisms, is presented here. The controller parameters depend on the instantaneous slope of the desired contour and hence vary with time for curved contours, resulting in a time-varying controller. An approximate stability analysis of the controller is presented. The proposed controller is evaluated experimentally on a microcomputer controlled two-axis positioning table and compared to a more traditional uncoupled controller. Controller performance is evaluated for straight line, cornering and circular contours at feed rates varying from 2.25 m/min to 7.2 m/min. The experimental results show that the proposed controller reduces contouring error as compared to the uncoupled controller and leaves the tracking error practically unchanged. The cross-coupled controller is simple to implement and is practical.

A novel cross-coupling control design for Bi-axis motion

“…(1). The same expression of contour error estimation for both linear and circular contours is widely adopted before [9,10]. But in the case of small radius or high speed circular contouring, instead of Eq.…”

A synchronizing second order sliding mode control applied to decentralized time delayed multi−agent robotic systems: Stability Proof

“…In order to achieve a coordinated control motion, an effective synchronization method namely the Cross Coupling concept is carried out where the whole multi-robot manipulators is used as a unique generalized system [47,48,49]. The cross coupling design was firstly introduced by [2], then its concept has been used mainly for machine tools [50,51]. Later on, it has been applied in the robotic fields by [52].…”

“…Referring to the cross-coupling technique, several works have been suggested to improve the performances of the synchronization of multi axis motions [36,37]. Later on, [38] proposed a control algorithm in order to synchronize networked systems in the presence of time delays [39,40].…”

Adaptive nonlinear contour coupling control for a machine tool system

“…Moreover, [8] stated that the unmodeled nonlinear dynamics seemed to play a significant role in the experimental demonstration. A CCC for a biaxial feed drive system was also developed and experimentally tested in [9]. However, the CCC in [9] was still designed based on a linear model of the machine.…”

“…A CCC for a biaxial feed drive system was also developed and experimentally tested in [9]. However, the CCC in [9] was still designed based on a linear model of the machine. In [10], Chen et al used a polar coordinate representation of the contour error so that a linear relationship between the contour error and the radial position can be developed.…”