CROSS-COUPLING POSITION COMMAND SHAPING CONTROL OF A MULTI-AXIS MOTION SYSTEM BASED ON MULTITASKING REAL-TIME KERNEL

摘要

A new structure of cross-coupling position command shaping controller (CPCSC) for precise tracking in multi-axis motion control is proposed in this paper. When compared with the conventional cross-coupling control (CCC) system, this new structure has the advantage that the compensators in CCC shall have a simpler design process than conventional ones and so does its stability analysis. The proposed controller is evaluated and compared experimentally with a traditional uncoupled controller on a microcomputer, which is ported a multitasking real-time kernel, controlled multi-axis positioning system. The experimental results show that the new structure remarkably reduces contour error. In addition, this new controller can be implemented easily on a majority of motion systems in use today via reprogramming the reference position command subroutine.