Gain Scheduling Controller Design for Cross-Coupled Contour Motion Systems
Contour motion control is one of the important topics in motion control research, which has been widely applied in motion control tasks in manufacturing and other automation systems. Much effort, such as cross-coupled control (CCC), has recently focused on improving contouring accuracy. Also, gain scheduling based on operating conditions is often a good way to compensate for variations in parameters or known nonlinearities of the plant. It is a very useful technique for reducing the effects of parameters variations. In this paper, a new gain scheduling optimum CCC-PID controller design methods, which adopts the known contour auxiliary information related to the time-varying gains, are proposed. Simulation results show that the controller proposed decreases contouring error obviously and better performance of contour motion is achieved.
Contour Motion System Gain Scheduling PID Controller Cross-Coupled Control
Hongsheng Li Jianhua Zhang Xiulan Wen
School of Automation, Nanjing Institute of Technology, Nanjing 211167, China
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
2713-2718
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）