標題: Theory and applications of the robust cross-coupled control design
作者: Yeh, SS
Hsu, PL
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 1-九月-1999
摘要: The cross-coupled control (CCC) has been recognized as an efficient motion controller that reduces contouring errors, but theoretical analysis of it is lacking and there is no systematic design approach for obtaining a CCC system with guaranteed central performance. Consequently, the compensators C in CCC are commonly implemented in a PID structure and their contouring accuracy is usually degraded in real applications under different operating conditions. In an attempt to overcome the CCC design limitations described above, this paper introduces a robust CCC design based on a novel formulation: the contouring error transfer function (CETF) leading to an equivalent formulation as in the feedback control design problem. Then, methods in robust control design can be readily employed to achieve robust CCC,vith specified stability margins and guaranteed contouring performance. Furthermore, the proposed design has been verified as being internally stable. All provided experimental results indicate that the proposed robust CCC design consistently renders satisfactory contouring accuracy under different operating conditions.
URI: http://hdl.handle.net/11536/31119
ISSN: 0022-0434
期刊: JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
Volume: 121
Issue: 3
起始頁: 524
結束頁: 530
顯示於類別:期刊論文


文件中的檔案:

  1. 000082744600026.pdf