The Experts below are selected from a list of 594 Experts worldwide ranked by ideXlab platform

Yunjiang Lou - One of the best experts on this subject based on the ideXlab platform.

  • task Cartesian Coordinate Frame based high precision 3 d adaptive robust contouring control
    Robotics and Biomimetics, 2019
    Co-Authors: Zhihao Zhang, Ran Shi, Yunjiang Lou
    Abstract:

    Contouring error is an important index for the surface precision of work pieces in tracking motion. In this paper, for settle the contouring error estimation which is only calculated on tangent line along the desired trajectory and improve 3-D contouring performance under disturbances, an adaptive robust controller (ARC) is adopted in task Cartesian Coordinate Frame (TCCF). In addition, The TCCF can reduce the number of controller from three dimension regulation problem to two which is compared with the task Coordinate Frame (TCF). Theoretically, the controller is proved that the stability can be achieved. Experiments are conducted in a three- axis servo system. Compared with computed-torque controller (CTC), ARC in TCCF can get higher overall contouring precision under the disturbances drastically and reduce the number of controllers.

  • Task Polar Coordinate Frame-Based Contouring Control of Biaxial Systems
    IEEE Transactions on Industrial Electronics, 2014
    Co-Authors: Yunjiang Lou, Hao Meng, Jiangzhao Yang, Jian Gao, Xin Chen
    Abstract:

    Contouring control is crucial in high-speed and high-precision manufacturing. In this paper, a novel task polar Coordinate Frame (TPCF), moving along the desired contour, is proposed to naturally calculate and control the estimated contouring error by the circular approximation, a second-order approximation. The dynamics in the world Cartesian Coordinate Frame is transformed into radial and angular dynamics in the local polar Coordinate Frame. By the feedback linearization technique and an input feedforward compensation, the closed-loop dynamics are decoupled in terms of the estimated contouring error and the angular error, respectively. Proportional-plus-derivative controllers can be assigned to stabilize the individual axis dynamics in the TPCF. By tuning the control parameters, different strengthening on estimated contouring error and angular error can be imposed explicitly and directly. Various experiments on an XY-stage biaxial system with typical contours, a circle and a figure-"8," were conducted. Comparative studies are carried out for the TPCF- and traditional Frenet Frame-based controls. The contouring errors were drastically reduced by the proposed approach, particularly in high-speed and large-curvature contouring cases

Xin Chen - One of the best experts on this subject based on the ideXlab platform.

  • Task Polar Coordinate Frame-Based Contouring Control of Biaxial Systems
    IEEE Transactions on Industrial Electronics, 2014
    Co-Authors: Yunjiang Lou, Hao Meng, Jiangzhao Yang, Jian Gao, Xin Chen
    Abstract:

    Contouring control is crucial in high-speed and high-precision manufacturing. In this paper, a novel task polar Coordinate Frame (TPCF), moving along the desired contour, is proposed to naturally calculate and control the estimated contouring error by the circular approximation, a second-order approximation. The dynamics in the world Cartesian Coordinate Frame is transformed into radial and angular dynamics in the local polar Coordinate Frame. By the feedback linearization technique and an input feedforward compensation, the closed-loop dynamics are decoupled in terms of the estimated contouring error and the angular error, respectively. Proportional-plus-derivative controllers can be assigned to stabilize the individual axis dynamics in the TPCF. By tuning the control parameters, different strengthening on estimated contouring error and angular error can be imposed explicitly and directly. Various experiments on an XY-stage biaxial system with typical contours, a circle and a figure-"8," were conducted. Comparative studies are carried out for the TPCF- and traditional Frenet Frame-based controls. The contouring errors were drastically reduced by the proposed approach, particularly in high-speed and large-curvature contouring cases

Hao Meng - One of the best experts on this subject based on the ideXlab platform.

  • Task Polar Coordinate Frame-Based Contouring Control of Biaxial Systems
    IEEE Transactions on Industrial Electronics, 2014
    Co-Authors: Yunjiang Lou, Hao Meng, Jiangzhao Yang, Jian Gao, Xin Chen
    Abstract:

    Contouring control is crucial in high-speed and high-precision manufacturing. In this paper, a novel task polar Coordinate Frame (TPCF), moving along the desired contour, is proposed to naturally calculate and control the estimated contouring error by the circular approximation, a second-order approximation. The dynamics in the world Cartesian Coordinate Frame is transformed into radial and angular dynamics in the local polar Coordinate Frame. By the feedback linearization technique and an input feedforward compensation, the closed-loop dynamics are decoupled in terms of the estimated contouring error and the angular error, respectively. Proportional-plus-derivative controllers can be assigned to stabilize the individual axis dynamics in the TPCF. By tuning the control parameters, different strengthening on estimated contouring error and angular error can be imposed explicitly and directly. Various experiments on an XY-stage biaxial system with typical contours, a circle and a figure-"8," were conducted. Comparative studies are carried out for the TPCF- and traditional Frenet Frame-based controls. The contouring errors were drastically reduced by the proposed approach, particularly in high-speed and large-curvature contouring cases

Jian Gao - One of the best experts on this subject based on the ideXlab platform.

  • Task Polar Coordinate Frame-Based Contouring Control of Biaxial Systems
    IEEE Transactions on Industrial Electronics, 2014
    Co-Authors: Yunjiang Lou, Hao Meng, Jiangzhao Yang, Jian Gao, Xin Chen
    Abstract:

    Contouring control is crucial in high-speed and high-precision manufacturing. In this paper, a novel task polar Coordinate Frame (TPCF), moving along the desired contour, is proposed to naturally calculate and control the estimated contouring error by the circular approximation, a second-order approximation. The dynamics in the world Cartesian Coordinate Frame is transformed into radial and angular dynamics in the local polar Coordinate Frame. By the feedback linearization technique and an input feedforward compensation, the closed-loop dynamics are decoupled in terms of the estimated contouring error and the angular error, respectively. Proportional-plus-derivative controllers can be assigned to stabilize the individual axis dynamics in the TPCF. By tuning the control parameters, different strengthening on estimated contouring error and angular error can be imposed explicitly and directly. Various experiments on an XY-stage biaxial system with typical contours, a circle and a figure-"8," were conducted. Comparative studies are carried out for the TPCF- and traditional Frenet Frame-based controls. The contouring errors were drastically reduced by the proposed approach, particularly in high-speed and large-curvature contouring cases

Jiangzhao Yang - One of the best experts on this subject based on the ideXlab platform.

  • Task Polar Coordinate Frame-Based Contouring Control of Biaxial Systems
    IEEE Transactions on Industrial Electronics, 2014
    Co-Authors: Yunjiang Lou, Hao Meng, Jiangzhao Yang, Jian Gao, Xin Chen
    Abstract:

    Contouring control is crucial in high-speed and high-precision manufacturing. In this paper, a novel task polar Coordinate Frame (TPCF), moving along the desired contour, is proposed to naturally calculate and control the estimated contouring error by the circular approximation, a second-order approximation. The dynamics in the world Cartesian Coordinate Frame is transformed into radial and angular dynamics in the local polar Coordinate Frame. By the feedback linearization technique and an input feedforward compensation, the closed-loop dynamics are decoupled in terms of the estimated contouring error and the angular error, respectively. Proportional-plus-derivative controllers can be assigned to stabilize the individual axis dynamics in the TPCF. By tuning the control parameters, different strengthening on estimated contouring error and angular error can be imposed explicitly and directly. Various experiments on an XY-stage biaxial system with typical contours, a circle and a figure-"8," were conducted. Comparative studies are carried out for the TPCF- and traditional Frenet Frame-based controls. The contouring errors were drastically reduced by the proposed approach, particularly in high-speed and large-curvature contouring cases