标题：Cross-coupled contour tracking control with time-varying internal model of a parallel bi-axis servo gantry
作者：Zhou, Yichen ;Zhang, Zhen ;Yan, Peng
作者机构：[Zhou, Yichen ;Zhang, Zhen ] Department of Mechanical Engineering, Tsinghua University, Beijing; 100084, China;[Zhang, Zhen ] State Key Laboratory of 更多
会议名称：54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
会议日期：28 July 2015 through 30 July 2015
来源：2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
关键词：Cross-coupled control; Disturbance observer; Friction compensator; Internal model; Mechatronics
摘要：This paper presents an integrated control strategy for high precision contour tracking of a newly developed parallel bi-axis servo gantry system. In specific, this integrated control method includes a time-varying internal-model-based controller designed to achieve frequency-varying trajectory tracking for each axis, a disturbance observer intended to compensate friction caused by linear guideways, and a modified variable-gain cross-coupling controller for improvement of contour precision. Various simulation comparative results validate the ability of this integrated control strategy to achieve high precision contour performance. © 2015 The Society of Instrument and Control Engineers-SICE.