Improvement of servo mechanism contouring error
碩士 === 國立成功大學 === 機械工程研究所 === 81 === This paper presents a novel approach to the design and implementation of motion control for biaxial servomechanisms. The concept of matching axis delay times resulting from a relaxed performance measure...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
1993
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| Online Access: | http://ndltd.ncl.edu.tw/handle/73100200523978578108 |
| Summary: | 碩士 === 國立成功大學 === 機械工程研究所 === 81 === This paper presents a novel approach to the design and
implementation of motion control for biaxial servomechanisms.
The concept of matching axis delay times resulting from a
relaxed performance measure is applied in the design of axis
controllers for possibly reducing the dynamic contouring
errors. Robust axis controllers are obtained using robust
control theory while a pole placement method is developed for
the ease of achieving without overshoot and with linear phase
design. The well-known cross-coupled control structure is also
employed to compensate the contouring errors due to mismatch of
axial dymanics and hencae to obtain good contouring accuracy.
Under a prespecified contour error bound, a fuzzy influence
adaptive control strategy is established to speed up contour
feedrate wthout sacrificing the contouring accuracy. This in
fact closes the feedback loop between the contour error and
feedrate. A biaxial control system is implemented using a
TMS320C30 to perform real-time computation, and the
experimental results show the effectiveness of the proposed
control scheme.
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