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초록
In order to improve contouring accuracy of a biaxial servomechanism, a cross-coupled controller is adopted and an optimal tuning procedure based on an integrated design concept is proposed. Strict mathematical modeling and identification process of a servomechanism are performed. An optimal tuning problem is formulated as a nonlinear constrained optimization problem including the relevant controller parameters of the servomechanism. The objective of the optimal tuning procedure is to minimize both the contour error and the settling time while satisfying constraints such as the relative stability and maximum overshoot conditions, etc. The effectiveness of the proposed optimal tuning procedure is verified through experiments.
키워드
Contour error; Cross-coupled control; Kharitonov's theorem; Optimal tuning; Contour error; Contouring accuracy; Controller parameter; Cross coupled control; Cross-coupled; Identification process; Integrated designs; Kharitonov's theorem; Mathematical modeling; Maximum overshoot; Nonlinear constrained optimization problems; Optimal tuning; Relative stabilities; Settling time; Constrained optimization; Controllers
- 제목
- Optimal tuning of biaxial servomechanisms using a cross-coupled controller
- 저자
- Bae, Ho-Kyu; Chung, Sung Chong
- 발행일
- 2006-10
- 유형
- Conference Paper
- 저널명
- Technical Paper - Society of Manufacturing Engineers
- 권
- TP06PUB46
- 페이지
- 1 ~ 10