For motion systems with multiple axes, the approach of matched direct current gains has been generally adopted to improve contouring accuracy under low-speed operations. To achieve high-speed and high-precision motion in modern manufacturing, a perfectly matched feedback control (PMFBC) design for multiaxis motion systems is proposed in this paper. By applying stable pole-zero cancellation and including complementary zeros for uncancelled zeros for all axes, matched dynamic responses across the whole frequency range for all axes are achieved. Thus, contouring accuracy for multiaxis systems is guaranteed for the basic feedback loops. In real applications, the modeling error is unavoidable and the degradation and limitations of the model-based PMFBC exist. Therefore, a newly designed digital disturbance observer is proposed to be included in the proposed PMFBC structure for each axis to compensate for undesirable nonlinearity and disturbances to maintain the matched dynamics among all axes for the PMFBC design. Furthermore, the feedforward control loops zero phase error tracking controller are employed to reduce tracking errors. Experimental results on a three-axis CNC machining center indicate that both contouring accuracy and tracking accuracy are achieved by applying the present PMFBC design.
Perfectly Matched Feedback Control and Its Integrated Design for Multiaxis Motion Systems
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division December 18, 2002. Associate Editor: J. Tu.
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Yeh , S., and Hsu, P. (December 3, 2004). "Perfectly Matched Feedback Control and Its Integrated Design for Multiaxis Motion Systems ." ASME. J. Dyn. Sys., Meas., Control. September 2004; 126(3): 547–557. https://doi.org/10.1115/1.1789970
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