High-performance coordinated motion control of high-speed biaxial systems for contouring tasks with comparative experimental investigations

This paper proposes a global task coordinate frame (TCF) based adaptive robust controller with cogging force compensation for an industrial linear-motor-driven biaxial precision gantry as a case study to test the practically achievable highspeed/high-accuracy contouring performance. Specifically, the approach employs the global task coordinate formulation to meet the stringent control performance requirements for highspeed coordinated contouring tasks. Moreover, the approach explicitly takes into account the specific characteristics of cogging forces existed in linear motors for the controller design as model compensation to further improve practical contouring performance. Adaptive robust contouring control scheme is then constructed to effectively attenuate the effect of model compensation errors due to various uncertainties for a theoretically guaranteed transient performance and steady-state tracking accuracy. Comparative experiments results obtained on a linear-motor-driven biaxial high-speed industrial gantry verify the effectiveness of the proposed cogging force compensations. The results also validate the excellent contouring performance of the proposed controller for high-speed/high-accuracy contouring tasks in actual implementation in spite of various parametric uncertainties and uncertain disturbances.