DocumentCode :
2554334
Title :
Direct contour error compensation for biaxial contouring control systems based on a global fixed coordinate frame
Author :
Yang, Jiangzhao ; Li, Zexiang ; Wang, Hong ; Lou, Yunjiang ; Long, Zhili
Author_Institution :
Div. of Control & Mechatron. Eng., Harbin Inst. of Technol., Xi Li, China
fYear :
2011
fDate :
21-25 June 2011
Firstpage :
1113
Lastpage :
1118
Abstract :
In the tasks of contour following, two important issues are required to be concerned. They are the real-time contour error estimation and compensation. Recent research shows that the accuracy of real-time contour error estimation can be improved by the approach of circular approximation. However, in such an approach, the estimated contour error is calculated from the artificial moving coordinate frame and has to be transformed back to the fixed coordinate frame for compensation. In this paper, an approach to estimate and compensate the real-time contour error based on the global fixed coordinate frame is proposed. In this method, the real-time contour error can be obtained from the tracking error decomposition to the global fixed coordinate frame via a projection map. Based on this estimation, direct contour error compensation will be performed with respect to the global fixed coordinate frame through modifying the reference position inputs. Experiments show that the estimation accuracy of the direct tracking error decomposition is the same as that of the circular estimation and the tracking performance of the contouring system is evidently improved after the compensation.
Keywords :
error compensation; motion control; tracking; biaxial contouring control systems; circular approximation; direct contour error compensation; global fixed coordinate frame; projection map; real-time contour error estimation; tracking performance; Accuracy; Approximation methods; Control systems; Error analysis; Error compensation; Estimation; Real time systems; Contour error estimation; Direct contour error compensation; Direct tracking error decomposition; Projection map;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation (WCICA), 2011 9th World Congress on
Conference_Location :
Taipei
Print_ISBN :
978-1-61284-698-9
Type :
conf
DOI :
10.1109/WCICA.2011.5970689
Filename :
5970689
Link To Document :
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