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TECHNICAL PAPERS

Precision Motion Control Methodology for Complex Contours

[+] Author and Article Information
Haojiong Zhang, Robert G. Landers

Department of Mechanical and Aerospace Engineering, University of Missouri-Rolla, 1870 Miner Circle, Rolla, MO 65409-0050

J. Manuf. Sci. Eng 129(6), 1060-1068 (Jun 06, 2007) (9 pages) doi:10.1115/1.2769728 History: Received July 25, 2006; Revised June 06, 2007

A general precision motion control methodology for complex contours is proposed in this paper. Each motion servomechanism dynamic model is divided into a linear portion and a portion containing nonlinear friction, unmodeled dynamics, and unknown disturbances. A full state feedback controller, based on a state space error system model, is developed to track general reference trajectories. The lumped static, Coulomb, and Stribeck friction effects are described using the Tustin friction model. Unmodeled dynamics and unknown disturbances are estimated using a Kalman filter that employs a first-order stochastic model. The nonlinear friction, unmodeled dynamics, and unknown disturbances are directly canceled by the controller. In the proposed motion control methodology, complex contours (i.e., contours whose radii of curvature constantly change along the contour) do not need to be decomposed into line segments and arcs and the reference signals do not need to be prefiltered. Also, the controller structure does not need to be adjusted to track different types of contours. Experiments are conducted on a two-axis laboratory grade machine tool for elliptical, limacon, and free-form contours. The results demonstrate the excellent tracking performance of the proposed motion control methodology. They also demonstrate that the performance is independent of the contours’ complexity.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

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Figure 1

Block diagram of a single servomechanism motion control system

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Figure 2

Input voltage signal for model construction experiments

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Figure 3

Axis velocity responses for model construction experiments

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Figure 4

X axis experimental and model velocity frequency responses

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Figure 5

Y axis experimental and model velocity frequency responses

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Figure 6

Experimental hardware setup: control system (left), electrical system (center), and linear axes (right)

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Figure 7

Experimental system schematic

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Figure 8

Elliptical contour experimental results

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Figure 9

Limacon contour experimental results

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Figure 10

Free-form contour experimental results

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