GTCF based LARC contouring motion control of an industrial X-Y linear-motor-driven stage

摘要

A global task coordinate frame (GTCF) based learning adaptive robust controller (LARC) is practically synthesized for an industrial X-Y linear-motor-driven stage to achieve not only good parametric adaptation ability and uncertain disturbance robustness, but also excellent transient/steady-state contouring performance. With the employment of GTCF which is globally based on the shape of the desired contour, the real-time contouring error calculation model is rather accurate and the coordination of multi-axes motion is guaranteed. Then a LARC control framework is proposed for the coupled system dynamics in GTCF, where the adaptive robust control term is to deal with the strongly coupled system model, and the iterative learning control term is to address the effect of unmodelled dynamics. Comparative experiments are carried out on an industrial linear-motor-driven stage, and the results consistently verify that the proposed GTCF based LARC controller has excellent contouring performance, and robustness to parametric variations and external disturbances.