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.

Research on Contouring Control of Dual Linear Motors

2014 ◽  
Vol 945-949 ◽  
pp. 1661-1664
Author(s):  
Li Mei Wang ◽  
Hao Zheng
Keyword(s):  
Tracking Error ◽  
Iterative Learning ◽  
Contour Error ◽  
Direct Drive ◽  
Linear Motors ◽  
Load Disturbance ◽  
Contouring Control ◽  
Contour Accuracy ◽  
Velocity Mismatch ◽  
Control Accuracy

In dual-axis contouring motion, contouring error is a more important performance index than tracking error. Considering direct drive XY table control accuracy, the influence of load disturbance and the velocity mismatch between X and Y axis are great. As a result, the position tracking iterative learning controller based on DOB controller is adopted at single axis, it can overcome the influence of the load disturbance, and ensure the robustness of the system; For the velocity mismatch between X and Y axis, a control strategy based on hybrid error iterative learning control (HILC) and the real-time contour error model was proposed. Simulation results show that the designed control system of XY table has strong robustness, high contour accuracy and simple structure.

scholarly journals Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator

2021 ◽  
Author(s):  
Puren Ouyang ◽  
Yuqi Hu ◽  
Wenhui Yue ◽  
Deshun Liu
Keyword(s):  
Control System ◽  
Translational Motion ◽  
Contour Error ◽  
Control Law ◽  
Contour Tracking ◽  
Pd Control ◽  
Tracking Errors ◽  
End Effector ◽  
Joint Level ◽  
Contouring Control

Reduction of contour error is a very important issue for high precise contour tracking applications, and many control systems were proposed to deal with contour tracking problems for two/three axial translational motion systems. However, there is no research on cross-coupled contour tracking control for serial multi-DOF robot manipulators. In this paper, the contouring control of multi-DOF serial manipulators is developed for the first time and a new cross-coupled PD (CC-PD) control law is proposed, based on contour errors of the end-effector and tracking errors of the joints. It is a combination of PD control for trajectory tracking at joint level and PD control for contour tracking at the end-effector level. The contour error of the end-effector is transformed to the equivalent tracking errors of the joints using the Jacobian regulation, and the CC-PD control law is implemented in the joint level. Stability analysis of the proposed CC-PD control system is conducted using the Lyapunov method, followed by some simulation studies for linear and nonlinear contour tracking to verify the effectiveness of the proposed CC-PD control system.

scholarly journals Tracking control via sliding mode for heavy-haul trains with input saturation

2020 ◽  
pp. 002029402095245 ◽  
Author(s):  
Jing He ◽  
Xingxing Yang ◽  
Changfan Zhang ◽  
Jianhua Liu ◽  
Qian Zhang ◽  
...  
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Tracking Accuracy ◽  
Uncertain Disturbances ◽  
Heavy Haul ◽  
New Type ◽  
Heavy Haul Trains ◽  
Compensation Signal

To address the tracking control problem of heavy-haul trains (HHTs) with input saturation during operation, an anti-saturation sliding mode (SMES) control method based on dynamic auxiliary compensator (DAC) is presented. Firstly, an HHT model with nonlinear coupling and uncertain disturbances is built. Secondly, a new type of DAC is introduced to overcome the difficulty of traditional dynamic auxiliary compensator (TDAC) with a large upper bound on the compensation signal. Finally, an anti-saturation SMES control algorithm is designed to reduce the influence of input saturation on the tracking accuracy of each carriage. Simulation results verify the effectiveness of the algorithm in terms of tracking accuracy, anti-interference, and anti-saturation.

scholarly journals The Impacts of Tracking System Inaccuracy on CPV Module Power

Processes ◽  
2020 ◽  
Vol 8 (10) ◽  
pp. 1278
Author(s):  
Henrik Zsiborács ◽  
Nóra Baranyai ◽  
András Vincze ◽  
Philipp Weihs ◽  
Stefan Schreier ◽  
...  
Keyword(s):  
Tracking System ◽  
Tracking Error ◽  
Weather Conditions ◽  
Cell Diameter ◽  
Tracking Accuracy ◽  
Optimal Position ◽  
Climate Conditions ◽  
Solar Tracking ◽  
Power Yield ◽  
The Difference

The accuracy and reliability of solar tracking greatly impacts the performance of concentrator photovoltaic modules (CPV). Thus, it is of utmost significance to know how deviations in tracking influence CPV module power. In this work, the positioning characteristics of CPV modules compared to the focus points were investigated. The performance of CPV modules mounted on a dual-axis tracking system was analysed as a function of their orientation and inclination. The actual experiment was carried out with CPV cells of 3 mm in diameter. By using a dual tracking system under real weather conditions, the module’s position was gradually modified until the inclination differed by 5° relative to the optimal position of the focus point of the CPV module. The difference in inclination was established by the perfect perpendicularity to the Sun’s rays. The results obtained specifically for CPV technology help determine the level of accuracy that solar tracking photovoltaic systems are required to have to keep the loss in power yield under a certain level. Moreover, this power yield loss also demonstrated that the performance insensitivity thresholds of the CPV modules did not depend on the directions of the alterations in azimuthal alignment. The novelty of the research lies in the fact that earlier, no information had been found regarding the tracking insensitivity point in CPV technologies. A further analysis was carried out to compare the yield of CPV to other, conventional photovoltaic technologies under real Central European climate conditions. It was shown that CPV needs a sun tracking accuracy of at least 0.5° in order to surpass the yield of other PV technologies. Besides providing an insight into the tracking error values of solar tracking sensors, it is believed that the results might facilitate the planning of solar tracking sensor investments as well as the economic calculations related to 3 mm cell diameter CPV system investments.

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