This paper investigates the design and implementation of a motion controller for a biaxial servomechanism using the TMS32OC30 digital signal processor. To achieve matching axis delay times resulting from a relaxed performance measure, a pole-placement method which ensures the H∞-norm of the closed-loop system being smaller than a prespecified performance level, is proposed for the design of axis controllers having approximately unity gain and linear phase over a specific operating frequency range. A fuzzy feedrate control strategy is developed to maintain good contouring accuracy by closing the feedback loop between the contour error and feedrate. Finally, the cross-coupled control is employed to compensate for contour error due to mismatch of axial high-frequency dynamics, and hence to speed up the contouring process.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
- Applied Mathematics