Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Optimal Tuning of Bi-axial Servomechanisms for High-Precision Motion Control

고정밀 운동제어를 위한 2축 서보메커니즘의 최적튜닝

  • 성철모 (한양대 대학원 기계공학과) ;
  • 정성종 (한양대학교 기계공학부)
  • Published : 2008.10.15
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Abstract

In this paper, the optimal tuning of a cross-coupled controller linked with the feedforward controller is studied to reduce contouring and tracking errors of a bi-axial servomechanisms by using the previously developed integrated tuning method. The CCC system for an arbitrary curve, which is combined with the feedforward controller, is formulated by a state-space based on a series of linear motion trajectories. An optimal tuning problem is formulated as a nonlinear constrained optimization problem including relevant controller parameters of the servo. To verify the effectiveness of the proposed optimal tuning procedure, linear and circular motion experiments are performed on the xy-table. Experimental results confirm that both tracking and contouring errors are significantly reduced by applying the proposed control and tuning system.

Keywords

References

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