Cross coupling control design for three-dimensional contouring control system based on layered modeling method

Mechanical structure of three degree of freedoms SCARA robot adopts horizontal joints, and opening PMAC multitude axis motion controller based PC is looked as kernel of control system, adopts the open hardware and software structure, we can conveniently enlarge its functions according to needs, so it has very good expansibility. Its three-dimensional solid model and virtual assemble is carried out using CATIA application, so that we can estimate the status of interference. Through validation, we can prove the feasibility of the robot.

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Design of a Three-Dimensional Garage Control System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.556-562.2540 ◽

2014 ◽

Vol 556-562 ◽

pp. 2540-2543

Author(s):

Hai Yan Yang

Keyword(s):

Control System ◽

Three Dimensional ◽

Land Resources ◽

Plc Control ◽

Parking Problem ◽

Big City

As the car quantity increasing, solve the parking problem is becoming more and more serious, but due to the shortage of land resources in the big city, establish a way of parking which occupies less land is imminent, Three-dimensional garage arises at the historic moment. The design introduced a three-dimensional garage with PLC control; it can realize multi-layer storage of the vehicle, and conform to the requirements of Times.

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An Equivalent-Plane Cross-Coupling Position Control for Contour-Accuracy Improvement in Three-Axis Free-Form Contour Following Tasks

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4042027 ◽

2018 ◽

Vol 141 (4) ◽

Author(s):

Jian-Wei Ma ◽

De-Ning Song ◽

Zhen-Yuan Jia ◽

Wen-Wen Jiang ◽

Fu-Ji Wang ◽

...

Keyword(s):

Error Control ◽

Position Control ◽

Three Dimensional ◽

Cross Coupling ◽

Experimental Tests ◽

Numerical Control ◽

Free Form ◽

Contouring Error ◽

Contour Following ◽

Better Than

To reduce the contouring errors in computer-numerical-control (CNC) contour-following tasks, the cross-coupling controller (CCC) is widely researched and used. However, most existing CCCs are well-designed for two-axis contouring and can hardly be generalized to compensate three-axis curved contour following errors. This paper proposes an equivalent-plane CCC scheme so that most of the two-axis CCCs or flexibly designed algorithms can be utilized for equal control of the three-axis contouring errors. An initial-value regeneration-based Newton method is first proposed to compute the foot point from the actual motion position to the desired contour with a high accuracy, so as to establish the equivalent plane where the estimated three-dimensional contouring-error vector is included. After that, the signed contouring error is computed in the equivalent plane, thus a typical two-axis proportional-integral-differential (PID)-based CCC is utilized for its control. Finally, the two-axis control commands generated by the typical CCC are coupled to three-axis control commands according to the geometry of the established equivalent plane. Experimental tests are conducted to verify the effectiveness of the presented method. The testing results illustrate that the proposed equivalent-plane CCC performs much better than conventional method in both error estimation and error control.

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