文章基本信息

标题：Iterative learning contouring controller based on trajectory generation with linearly interpolated contour error estimation and Bézier reposition trajectory for computerized numerical control machine tool feed drive systems
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作者：Yogi Muldani Hendrawan ; Kenneth Renny Simba ; Naoki Uchiyama 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2019
卷号：11
期号：8
页码：1-15
DOI：10.1177/1687814019868108
出版社：Sage Publications Ltd.
摘要：In industrial applications, highly accurate mechanical components are generally required to produce advanced mechanical and mechatronic systems. In machining mechanical components, contour error represents the product shape quality directly, and therefore it must be considered in controller design. Although most existing contouring controllers are based on feedback control and estimated contour error, it is generally difficult to replace the feedback controller in commercial computerized numerical control machines. This article proposes an embedded iterative learning contouring controller by considering the linearly interpolated contour error compensation and Bézier reposition trajectory, which can be applied in computerized numerical control machines currently in use without any modification of their original feedback controllers. While the linearly interpolated contour error compensation enhances tracking performance by compensating the reference input with an actual value, the Bézier reposition trajectory enables smooth velocity transitions between discrete points in the reference trajectory. For performance analysis, the proposed controller was implemented in a commercial three-axis computerized numerical control machine and several experiments were conducted based on typical three-dimensional sharp-corner and half-circular trajectories. Experimental results showed that the proposed controller could reduce the maximum and mean contour errors by 45.11% and 54.48% on average, compared to embedded iterative learning contouring controller with estimated contour error. By comparing to embedded iterative learning contouring controller with linearly interpolated contour error compensation, the maximum and mean contour errors are reduced to 20.54% and 26.92%, respectively.
其他关键词：Actual contour error ; Bézier curve ; contouring control ; feed drive ; iterative learning control ; machine tool