Contouring controller design for biaxial feed drive systems considering compliance of transmission mechanism

摘要

Contouring control is an effective method for computer numerical controlled machining, and various such designs have been proposed to date. However, the compliance of the transmission mechanism is not considered in most existent contouring controller designs. This paper presents a new contouring control system design considering the compliance of a transmission mechanism based on a fourth-order model of feed drive dynamics. First, we present a controller design that enables the controller gain assignment for reducing the error component orthogonal to the desired contour curve, independent of the tangential error component. Although this design provides better control performance with small control input variance, there exists an inherent contour error because of the difficulty in calculating the exact contour error for any contour curve in real time. To address this problem, a reference adjustment method is used to estimate the actual contour error. The effectiveness of the proposed design is experimentally verified by comparing the control performance with a design based on a plant model that neglects the compliance.