DSP-based motion control by H axis-controller and fuzzy adaptive feedrate

M. C. Tsai, S. J. Lau, S. C. Lee

Research output: Contribution to journalArticle

3 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)1587-1597
Number of pages11
JournalControl Engineering Practice
Issue number11
Publication statusPublished - 1995 Nov

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics

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