다축 구동 시스템의 교차식 구조를 이용한 최적 위치동기 제어

Optimal Control for Synchronizing Positions of Multi-Axis Driving System with Cross-Coupled Structure

The present paper deals with the development of digital contouring controller for multiaxial servosystem. Instead of coordinating the commands to the individual feed drives and implementing closed position loop control for each axis, this work is achieved by the evaluation of a optimal cross-couple compensator aimed specifically at improving contouring accuracy in multi-axial feed drives. The optimal control formulation explicitly includes the contour error in the performance index to be minimized. The contouring control is simulated for straight line. The results show that the proposed controller reduces contouring errors considerably, as compared to the conventional uncoupled control for biaxial systems.