High-Precision Contour-Tracking Control of Ethernet-Based Networked Motion Control Systems

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2020/01/01

タイトル(英語): High-Precision Contour-Tracking Control of Ethernet-Based Networked Motion Control Systems

著者名: Xiang Wu (School of Information Engineering, Zhejiang University of Technology/School of Computer Science, Tokyo University of Technology), Hui Dong (School of Information Engineering, Zhejiang University of Technology), Jinhua She (School of Computer Sci

著者名(英語): Xiang Wu (School of Information Engineering, Zhejiang University of Technology/School of Computer Science, Tokyo University of Technology), Hui Dong (School of Information Engineering, Zhejiang University of Technology), Jinhua She (School of Computer Science, Tokyo University of Technology), Li Yu (School of Information Engineering, Zhejiang University of Technology)

キーワード: networked motion control system (NMCS)，time-varying delays，iterative learning control，aperiodic disturbance，contour tracking control

要約(英語): This paper focuses on the high-precision contour-tracking control of an Ethernet-based networked motion control system (ENMCS) with short time-varying delays and repetitive tasks. The delays and the aperiodic exogenous disturbance are the main factors that deteriorate the tracking performance. An integrated control approach is devised, which consists of three parts: a disturbance observer for rejecting the delay and disturbance, an iterative learning controller for achieving perfect individual-axes tracking, and a cross-coupled controller for further improving the contour-tracking performance. In addition, a fuzzy regulator is proposed in the iteration domain to adjust the contour-controller gains so as to smooth iteration processes of individual axes. Comparative simulations and experiments are carried out to verify the feasibility and effectiveness of the approach.

本誌: IEEJ Journal of Industry Applications Vol.9 No.1 （2020）

本誌掲載ページ: 2023/01/10 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/9/1/9_1/_article/-char/ja/