NDLI: Task Polar Coordinate Frame-Based Contouring Control of Biaxial Systems

Content Provider	IEEE Xplore Digital Library
Author	Yunjiang Lou Hao Meng Jiangzhao Yang Zexiang Li Jian Gao Xin Chen
Copyright Year	1982
Abstract	Contouring control is crucial in high-speed and high-precision manufacturing. In this paper, a novel task polar coordinate frame (TPCF), moving along the desired contour, is proposed to naturally calculate and control the estimated contouring error by the circular approximation, a second-order approximation. The dynamics in the world Cartesian coordinate frame is transformed into radial and angular dynamics in the local polar coordinate frame. By the feedback linearization technique and an input feedforward compensation, the closed-loop dynamics are decoupled in terms of the estimated contouring error and the angular error, respectively. Proportional-plus-derivative controllers can be assigned to stabilize the individual axis dynamics in the TPCF. By tuning the control parameters, different strengthening on estimated contouring error and angular error can be imposed explicitly and directly. Various experiments on an XY-stage biaxial system with typical contours, a circle and a figure-“8,” were conducted. Comparative studies are carried out for the TPCF- and traditional Frenet frame-based controls. The contouring errors were drastically reduced by the proposed approach, particularly in high-speed and large-curvature contouring cases.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	3490
Ending Page	3501
Page Count	12
File Size	1091011
File Format	PDF
ISSN	02780046
Volume Number	61
Issue Number	7
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Linear approximation Piecewise linear approximation Equations Error analysis Estimation Friction task polar coordinate frame (TPCF) Biaxial systems circular approximation contouring control contouring error
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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