Research On Contouring Error Estimation And Control For Multiaxial Servo Systems

Contouring error is a crucial index characterizing the surface quality of the final product, it should be eliminated. And how to achieve an accurancy contouring error estimated value, has always been an important problem in industrial applications. The dissertation study the contouring error method and control method to improve the performance of the industrial system.There are many contouring error estimation methods, but there is not a clearinstruction for the application scope of every estimation methods. According tosimulations, this dissertation provides a reference to choose a suitable contouringerror estimation method.Through the analysis of the existing contouring error estimation methods, these methods can get the real value of contouring error only when the desired contour is circle or straight line. For other contours, these methods just get the estimation value of contouring error. This dissertation proposes a contouring error computation method, which can solve the real contouring error for p lanar quadratic curve contours. And the method can be expanded for the desired contours beyond the scope of the planar quadratic curve contours.By combining the cross-coupling control and contouring error computation method together, a modified cross-coupling adaptive control scheme is proposed in the disertation. Compared with the traditional cross-coupling adaptive control, the inputs of the improved controller is the position information of the actual point instead of tracking error. So the performance of modified cross-coupling control scheme can get rid of the influence of tracking error. Through the experiments the computation method based on improved controller has the best peformance. And the modified cross-coupling adaptive control scheme can reduce the difficulty of the computation of cross-coupling gains.The velocity planning based on contouring error are proposed in the dissertation. They are Bang-bang control and Normalization control. Through the analyse of these two control method, the Normalization method is used to verify the effect of the velocity palnning. Compared with the maximum feedrate, the machining precision is increased by thirty-nine percent. Compared with the minimum feedrate, the machining efficiency is increased by thirty-five percent. And the velocity planning based on contouring error both take the machining precision and machining efficiency into consideration.