教授 博士生导师 硕士生导师
性别: 男
毕业院校: 大连理工大学
学位: 博士
所在单位: 机械工程学院
学科: 机械电子工程. 机械制造及其自动化
办公地点: 机械工程学院知方楼5037室
联系方式: 18041185880;0411-84707876
电子邮箱: mjw2011@dlut.edu.cn
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论文类型: 期刊论文
发表时间: 2018-10-01
发表刊物: PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
收录刊物: SCIE
卷号: 232
期号: 19
页面范围: 3367-3383
ISSN号: 0954-4062
关键字: Contouring error; tracking error; free-form parametric curve; precise motion control; error compensation
摘要: The tracking and contouring errors are inevitable in real computer numerical control contour following because of the reasons such as servo delay and dynamics mismatch. In order to improve the motion accuracy, this paper proposes a synergistic real-time compensation method of tracking and contouring errors for precise parametric curve following of the computer numerical control systems. The tracking error for each individual axis is first compensated, by using the feed-drive models with the consideration of model uncertainties, to enhance the tracking performances of all axes. Further, the contouring error is estimated and compensated to improve the contour accuracy directly, where a high-precision contouring-error estimation algorithm, based on spatial circular approximation of the desired contour neighboring the actual motion position, is presented. Considering that the system structure is coupled after compensation, the stability of the coupled system is analyzed for design of the synergistic compensator. Innovative contributions of this study are that not only the contouring-error can be estimated with a high precision in real time, but also the tracking and contouring performances can be simultaneously improved although there exist modeling errors and disturbances. Simulation and experimental tests demonstrate the effectiveness and advantages of the proposed method.