標題: Analysis and design of the integrated controller for precise motion systems
作者: Yeh, SS
Hsu, PL
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: CCC;contouring error;integrated controller;motion systems;optimal feedforward controller;robust controllers;tracking error;ZPETC
公開日期: 1-Nov-1999
摘要: Recently, feedforward controllers like zero phase error tracking controllers (ZPETC's) and cross-coupled controllers (CCC's) have been developed to effectively reduce tracking error and contouring error, respectively. This paper proposes an integrated controller which combines ZPETC and CCC to achieve both tracking and contouring accuracy. Furthermore, studies indicate that ZPETC and CCC can be designed separately in the present integrated control design, In the provided experimental setup with a servo table, an optimal ZPETC and a robust CCC based on the contouring error transfer function (CETF) were designed to achieve desirable frequency responses and stability, Experimental results show that the proposed integrated controller renders significantly improved accuracy in both tracking and contouring.
URI: http://dx.doi.org/10.1109/87.799671
http://hdl.handle.net/11536/30975
ISSN: 1063-6536
DOI: 10.1109/87.799671
期刊: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume: 7
Issue: 6
起始頁: 706
結束頁: 717
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