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
出版年:2015
页码:746-751
DOI:10.1109/SICE.2015.7285404
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.
收录类别:EI;SCOPUS
资源类型:会议论文;期刊论文
原文链接:https://www.scopus.com/inward/record.uri?eid=2-s2.0-84960076296&doi=10.1109%2fSICE.2015.7285404&partnerID=40&md5=d865a30769920a4e62433783ab5a4d14
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