Contour Tracking Control of Networked Motion Control System Using Improved Equivalent-Input-Disturbance Approach

Wenjie Lin,Guangpu Huang,Qun Lu, Lifeng Luo,Xiang Wu,Dan Zhang

2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR(2023)

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摘要
In this paper, an integrated controller was designed to perform the multi-axis contouring tracking control tasks of networked motion control systems under the influence of external disturbance and measurement noise. To suppress this influence in single-axis tracking, an improved equivalent-input-disturbance (EID)-based single-axis controller is designed to enhance the tracking precision. Then, cross-coupling control (CCC) is utilized for compensation control between each axis, thereby further improving the efficiency and accuracy of contouring tracking control. Finally, comparative experiments are presented to fully illustrate the effectiveness and superiority of the method.
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关键词
Networked motion control systems (NMCSs),contouring tracking control,equivalent-input-disturbance (EID),cross-coupling control (CCC)
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