Contouring Control for five-axis System by Iterative Learning Control

• Main Authors: Chung-I Pan, 潘仲逸
• Other Authors: Shyh-Leh Chen
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/76108237488036759308

碩士 === 國立中正大學 === 機械工程所 === 97 === This thesis is concerned with contouring control for 5-axis system by iterative learning control. The conventional approach of contouring control for single axis, two axis and linear system had good performance, but 5-axis system is a multi-axis and high nonlinear system, the conventional approach is not suitable. Making use of equivalent error model to deign controller stabilizes equivalent errors. Reducing equivalent error is equivalent to reducing contour error. After the 5-axis system had been stabilized, the closed loop system is considered. The learning control is used to provide better input signal for each axis so that the output responses of each axis can follow the desired command. The algorithm of the leaning control makes use of the equivalent error in the previous cycle to modify the control input of each axis. In theoretical, it is found that ILC can guarantees convergence.