Precision Motion Control Methodology for Complex Contours

Zhang, Haojiong; Landers, Robert G.

doi:10.1109/acc.2007.4282639

Cited by 4 publications

(5 citation statements)

References 11 publications

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“…The speed DC motor could be achieved by changing the armature resistance, armature voltage and excitation current. When the armature voltage was changed, it could get constant torque characteristics with a wide range of speed, therefore, chose this kind of method to control DC servo motor speed [5][6] .By pulse width modulation (PWM) to control the armature voltage to change speed. It had characteristic of high -speed precision, fast response, low speed range models and loss characteristics.…”

Section: The Modeling and Simulation Of Servo Motor Control Systemmentioning

confidence: 99%

Modeling and Simulation of Kollmorgen Motor Movement Control System Based on SimScape

Sun

Qian

Qin

et al. 2015

AMM

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To verify and analyze the dynamics model of servomotor and improve the efficiency of modeling and analysis, we research system of modeling and simulation on kollmorgen AKM41H servomotor in SimScape. According to the driving principle and mathematical model of DC servomotor, Simulink combined with SimScape and Solidworks part will conduct Control system simulation and analysis. By analyzing the frequency curve, we know that dynamics model of Kollmorgen servomotor is accurate. Semi-physical simulation based on SimScape, the angle of motor shaft can be fast and accurate to get the prespecified value. Parameters of feedback control system are selected reasonably, adjust the motor shaft’s speed so that it reduces to zero band. Research shows that SimScape combined with Solidworks take semi-physical simulation experiment. It can support simulation that is different complex engineering project. Compared with the traditional simulation model is more practical and analysis and modeling is more efficiency.

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Section: The Modeling and Simulation Of Servo Motor Control Systemmentioning

confidence: 99%

Modeling and Simulation of Kollmorgen Motor Movement Control System Based on SimScape

Sun

Qian

Qin

et al. 2015

AMM

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“…In addition, the rotation speed of the motor can also be obtained through the difference in the position signals of the encoder. 12 The parameter identification for the Stribeck friction model…”

Section: The Equation Above Is Rewritten Asmentioning

confidence: 99%

Dynamic parameters’ identification for the feeding system of computer numerical control machine tools stimulated by G-code

Chen

Zhu

Zheng

2015

Advances in Mechanical Engineering

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This study proposed a dynamic parameters' identification method for the feeding system of computer numerical control machine tools based on internal sensor. A simplified control model and linear identification model of the feeding system were established, in which the input and output signals are from sensors embedded in computer numerical control machine tools, and the dynamic parameters of the feeding system, including the equivalent inertia, equivalent damping, worktable damping, and the overall stiffness of the mechanical system, were solved by the least square method. Using the high-order Taylor expansion, the nonlinear Stribeck friction model was linearized and the parameters of the Stribeck friction model were obtained by the same way. To verify the validity and effectiveness of the identification method, identification experiments, circular motion testing, and simulations were conducted. The results obtained were stable and suggested that inertia and damping identification experiments converged fast. Stiffness identification experiments showed some deviation from simulation due to the influences of geometric error and nonlinear of stiffness. However, the identification results were still of reference significance and the method is convenient, effective, and suited for industrial condition.

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“…In design of contour control it will be assumed that joint disturbances are compensated and plant description is given in (10). Contour controller is designed to assign desired dynamics to contour tracking error projections to the moving TNB frame.…”

Section: B Contour Controlmentioning

confidence: 99%

“…Different control approaches can be found in [9], [10], [11], [12]. It is known that small contour error can be achieved even when significant tracking error exists.…”

Section: Introductionmentioning

confidence: 99%

Three-dimensional contour tracking control of a parallel manipulator: Comparison of two control techniques

Uzunović

Baran

Golubovic

et al. 2014

2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE)

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In this paper a novel design for three-dimensional (3-D) contour controller is proposed. This design relies on dynamics projection to the moving Frenet-Serret frame defined for each point on reference trajectory. Contour controller consists of independent joint controller and additional sliding mode controller, added as corrective term. Control task is defined as contour tracking with constant tangential velocity. Contour controller was compared with independent joint controller designed as acceleration controller with first order disturbance observer. Reference trajectory is generated using time based spline approximation to provide smooth reference trajectory. Experimental results showed significant improvement that contour controller provides over independent joint control with relatively high velocity references.

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Precision Motion Control Methodology for Complex Contours

Cited by 4 publications

References 11 publications

Modeling and Simulation of Kollmorgen Motor Movement Control System Based on SimScape

Modeling and Simulation of Kollmorgen Motor Movement Control System Based on SimScape

Dynamic parameters’ identification for the feeding system of computer numerical control machine tools stimulated by G-code

Three-dimensional contour tracking control of a parallel manipulator: Comparison of two control techniques

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