Contour Tracking of Direct Drive H-type Platform Based on Multi-axis Global Task Coordinate Frame

2021 ◽  
Author(s):  
Jian Zhang ◽  
Limei Wang
Keyword(s):  
Coordinate Frame ◽  
Contour Tracking ◽  
Direct Drive

Contour Tracking Control for Direct Drive X-Y Table Based on Equivalent Errors Model

2014 ◽  
Vol 945-949 ◽  
pp. 1673-1676
Author(s):  
Zhi Tao Wu ◽  
Jian Ying Xu
Keyword(s):  
Tracking Control ◽  
Contour Error ◽  
Contour Tracking ◽  
Direct Drive ◽  
Tracking Accuracy ◽  
Optimal Position ◽  
Nonlinear Disturbances ◽  
Error Dynamic ◽  
Position Controller ◽  
Contour Accuracy

For the contour accuracy of direct drive X-Y servo system is susceptible to changes of the load parameters and nonlinear disturbances including the friction , A quadratic optimal position controller with sliding contour tracking controller based on equivalent errors model is proposed to improve contour tracking performance and the robustness. The position controller is designed by the factorization of quadratic optimization on frequency domain. Based on Equivalent Errors model including the equivalent contour error and tangential error, the contour tracking problem is converted to the stabilization of error dynamic system. Simulation and experimental results show that the effects of nonlinear disturbances are reduced effectively and the designed controller has high contour tracking accuracy and strong robustness.

Coordinated motion control of a pneumatic-cylinder-driven biaxial gantry for contour tracking tasks

2017 ◽  
Vol 40 (7) ◽  
pp. 2249-2258 ◽  
Author(s):  
Deyuan Meng ◽  
Aimin Li ◽  
Fei Chen ◽  
Kai Zhang
Keyword(s):  
Robust Control ◽  
Motion Control ◽  
Adaptive Robust Control ◽  
Contour Error ◽  
Pneumatic Cylinder ◽  
Coordinate Frame ◽  
Practical Implementation ◽  
Model Parameters ◽  
Contour Tracking ◽  
Coordinated Motion

In this paper, coordinated motion control of the pneumatic-cylinder-driven biaxial gantry for precise contour tracking is investigated. An adaptive robust coordinated motion controller is developed by incorporating the task coordinate formulation into the adaptive robust control architecture. Specifically, a task coordinate frame is used to approximately calculate the contour error, which is utilized for controller design to generate coordination between two axes. Furthermore, the proposed controller utilizes online parameter adaptation to estimate some important unknown model parameters, and employs a robust control law to attenuate the effects of parameter estimation errors, unmodelled dynamics and external disturbances. Therefore, certain transient contouring performance and steady-state contour tracking accuracy can be guaranteed. Extensive comparative experimental results obtained verify the effectiveness of the proposed coordinated motion control strategy and its performance robustness to sudden disturbances in practical implementation.

CAD of a direct drive rotary motor based on giant magnetostrictive alloys

1998 ◽  
Vol 08 (PR2) ◽  
pp. Pr2-785-Pr2-788
Author(s):  
M. E.H. Benbouzid ◽  
G. Reyne ◽  
G. Meunier
Keyword(s):  
Direct Drive ◽  
Rotary Motor
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