Iterative Learning Cross-Coupled Control for XY Table Based on Real-Time Contour Error Estimation

Abstract:

The contour accuracy of XY table directly driven by two linear motors was influenced by the complicated reel-time contour error model of free-form curves, uncertainty external disturbance and dynamic matching between X axis and Y axis. To establish XY table model that easily calculated and suitable for free-form curves, real-time contour error estimate method was adopted. In order to reduce uncertainty external disturbance and dynamic matching between X axis and Y axis, the iterative learning cross-coupled controller (ILCCC) was designed for current compensation on X axis and Y axis. Simulation results show that the control scheme can enhance the robustness of the system, and effectively improve the XY table of contour precision.

• Periodical: Advanced Materials Research (Volumes 383-390)
• Pages: 7054-7059
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.383-390.7054
• Online since: November 2011
• Authors: Li Mei Wang, Qi Yang, Yi Biao Sun, Chun Fang Liu
• Keywords: Cross-Coupled Control, Iterative Learning Control, Real-Time Contour Error Estimate, XY Table

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