DocumentCode :
336718
Title :
A decoupled path-following control algorithm based upon the decomposed trajectory error
Author :
Yen, Jia-Yush ; Ho, Hsin-Chiang ; Lu, Shu-Shung
Author_Institution :
Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Volume :
3
fYear :
1998
fDate :
1998
Firstpage :
3189
Abstract :
This paper proposes a new path-following control algorithm for the machine tool servo systems. The controller first decomposes the normal tracking error from the advancing tangential error. A dynamic decoupling procedure is then proposed to the advancement mechanism and the trajectory tracking mechanism in the machine tool servo. A dynamic decoupling controller is propose to operate on the decomposed tangential and normal tracking errors. The normal control minimizes the perpendicular tracking error while the tangential control maintains a desired feed rate. The method is applied on an experimental X-Y table, and the results show good tracking and trajectory following characteristics. The new algorithm enables the design of a non-overshooting controller along the path. This would allow no-over-cutting process for the machine tool operation
Keywords :
dynamics; machine tools; position control; servomechanisms; tracking; decoupled path-following control; dynamic decoupling; feed rate; machine tool; servomechanism; trajectory error; trajectory tracking; Algorithm design and analysis; Control systems; Error correction; Feeds; Lungs; Machine tools; Motion control; Servomechanisms; Table lookup; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
ISSN :
0191-2216
Print_ISBN :
0-7803-4394-8
Type :
conf
DOI :
10.1109/CDC.1998.758019
Filename :
758019
Link To Document :
بازگشت