Model Predictive Contouring Control for Biaxial Systems

Autor:	Malcolm Good, Chris Manzie, Denise Lam
Rok vydání:	2013
Předmět:	Contouring Model predictive control Control and Systems Engineering Computer science Control theory Linear system Path (graph theory) Numerical control Control engineering Electrical and Electronic Engineering Actuator Motion control
Zdroj:	IEEE Transactions on Control Systems Technology. 21:552-559
ISSN:	1558-0865 1063-6536
DOI:	10.1109/tcst.2012.2186299
Popis:	Many biaxial contouring systems involve competing control objectives of maximizing accuracy while minimizing traversal time. A model predictive controller for contouring systems is proposed where the control inputs are determined by minimizing a cost function which reflects the tradeoff between these competing objectives, subject to state and actuator constraints. The path speed is automatically adjusted to maintain accuracy along the path, and the cost function can be tuned towards higher contouring accuracy and lower path speed, or vice versa. To facilitate real-time implementation, a linear time-varying approach is proposed. The controller is successfully implemented in real time on an X-Y table, and experimental results demonstrate that the new contouring control scheme achieves an improvement in performance compared to both industry standard and advanced tracking controllers.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::17b69ebf54a9f826cea95157b5baac7c https://doi.org/10.1109/tcst.2012.2186299 Zobrazit plný text záznamu