摘要
A design approach for online pre-compensation of three-axis cross-coupled contour errors with mismatched dynamics is proposed.In the context of cross-coupled contour control design,online pre-compensation of contour errors is commonly employed.However,establishing a specific relationship between contour errors is challenging for mismatched computer numerical control(CNC)systems.Therefore,the design of interpolation methods for mismatched systems remains crucial,as most existing systems struggle to be adjusted to match seamlessly.This study introduces an online pre-compensation scheme for cross-coupled contour errors in three-axis motion,which constitutes a compensation system for real-time correction of contour error estimation.The coupling control structure,based on a speed loop,comprises a proportion integration differentiation(PID)control feedback controller,a feedforward controller,and an online pre-compensation cross-coupled contour controller.The experimental results demonstrate that the proposed three-axis cross-coupled contour error pre-compensation scheme significantly enhances the contour accuracy compared to traditional cross-coupled control systems.Moreover,the proposed cross-coupled contour error pre-compensation controller exhibits superior contour performance over conventional cross-coupled controllers when tracking high-order curvature bending paths.
基金
supported by NSFC(92475109).
