Open AccessA modified contour error controller for a high speed XY table
Author(s) -
Helder Barbieri Lacerda,
Eduardo Morgado Belo
Publication year - 2000
Publication title -
revista brasileira de ciências mecânicas
Language(s) - English
Resource type - Journals
ISSN - 0100-7386
DOI - 10.1590/s0100-73862000000300006
Subject(s) - control theory (sociology) , controller (irrigation) , table (database) , pid controller , reduction (mathematics) , tracking error , approximation error , computer science , tracking (education) , mathematics , algorithm , artificial intelligence , control engineering , control (management) , engineering , geometry , temperature control , psychology , pedagogy , data mining , agronomy , biology
This article deals with a contour error controller (CEC) applied in a high speed biaxial table. It works simultaneously with the table axes controllers, helping them. In the early stages of the investigation, it was observed that its main problem is imprecision when tracking non-linear contours at high speeds. The objectives of this work are to show that this problem is caused by the lack of exactness of the contour error mathematical model and to propose modifications in it. An additional term is included, resulting in a more accurate value of the contour error, enabling the use of this type of motion controller at higher feedrate. The response results from simulated and experimental tests are compared with those of common PID and non-corrected CEC in order to analyse the effectiveness of this controller over the system. The main conclusions are that the proposed contour error mathematical model is simple, accurate, almost insensible to the feedrate and that a 20:1 reduction of the integral absolute contour error is possible