Contour Tracking Control On A Bi-Axis Motion Table

The main task of contour tracking, which is widely used in industry, is to minimizethe tracking contour error, which is defined as the shortest distance between thedesired contour and the actual tracking trajectory. This thesis introduces a controlmethod, which considers not only the individual axis tracking but also the coordinatedmotion of both axes, to a physical motion platform.The individual two degrees of freedom (2DOF) controller is designed in terms of thespecifications of the desired dynamics after a detailed model analysis and systemidentification. Pole placement approach is introduced to establish the designedcontrol low.On the basis of the stabilized single axis control loop, the coordinated control scheme,cross-coupling control (CCC), is proposed. To determine the structure parametersof the coupled control structure, a geometric interpretation of contour error is givenwhen a moving frame is attached to the desired contour. Contour error transferfunction (CETF) is defined in the analysis. A method, which reduces the complexcoupling system into a simple feedback system, for the stability analysis to the entirecontrol structure is proposed.In the end, simulations and practical experiments, based on the proposed controlstrategies, are performed to verify the tracking performance when following trajec-tories with constant and nonconstant curvatures in different induced velocity inputmodes. Comparisons are exhibited in the same time.