Original scientific paper

https://doi.org/10.7305/automatika.54-1.304

Contouring Controller for Precise Motion Control Systems

Edin Golubovic orcid.org/0000-0001-7410-3369 ; Sabanci University Istanbul, Turkey
Eray A. Baran ; Sabanci University Istanbul, Turkey
Asif Sabanovic orcid.org/0000-0002-2783-9354 ; Sabanci University Istanbul, Turkey

Abstract

This paper discusses the trajectory generation algorithm, contour error construction method and finally the contour controller design. In the trajectory generation algorithm combination of elliptical Fourier descriptors (EFD) and time based spline approximation (TBSA) is used to generate position, velocity and acceleration references. Contour error is constructed using transformation of trajectory tracking errors. Transformation is computationally efficient and requires only reference velocity information. Contour controller is designed using sliding mode control. Experiments are performed on planar linear motion stage and significant contour error reduction is observed.

Keywords

Contouring Controller; Precise Motion Control Systems; Time Based Spline Interpolation; Sliding Mode Control; Elliptical Fourier descriptors; Acceleration controller

Hrčak ID:

100176

URI

https://hrcak.srce.hr/100176

Publication date:

4.4.2013.

Article data in other languages: croatian

Visits: 2.141 *