Research On The Adaptive Contour Error Estimation Method And Contour Control Based On Real-time Ethernet

With developments in the manufacturing industry,the requirements for both high speed and high accuracy are becoming high.To keep a high accuracy with a high speed is a key technology.Contouring control is a technology which aims to decrease contour errors.In order to improve the effectiveness of contouring control,a real-time and accurate contour error estimation method is needed.To facilitate the implementation of the proposed contour error estimation method,an experimental platform was built up.When the traditional control system is replaced by a networked control system,how to build an experimental platform based on the realtime Ethernet for contouring control is another important problem.First,this thesis uses the Simulink Real-Time to build a platform for quick algorithm verification.The realization of algorithms is auto-competed.Several newly developed modules include parametric curve generation and interpolation module,model identification module,automatic tuning of PID controller based on relay feedback module,precise contour error offline calculation module and data extraction and saving module.Then,a motion control platform is built up based on the real-time Ethernet,using Powerlink as the communication protocol and Zynq as kernel hardware.For contouring control,contour errors need to be estimated in real-time.The performance of the traditional contour error estimation methods will deteriorate with a high speed and a large curvature.To solve this problem,a method named the adaptive contour error estimation(ACEE)method is proposed.With ACEE,the points used for estimating contour errors are not the same points used for servo control.To use this method in real CNC systems,a modification for the general parametric curve interpolation is also presented.Experiments on the Simulink Real-Time platform have proved the advantage of the ACEE method as compared to the traditional method.Last,as the final application of the contour error,the CCC(cross couple control)is selected as the typical contouring control algorithm.Several issues in the application of the contouring control algorithm to a real-time Ethernet based motion control system are discussed.For example,the problem of how to record data and how to detection of real-time is discussed.The experiments of automatic tuning of PID controller based on relay feedback and the CCC is performed.