TY - GEN
T1 - Reference governor based model predictive contouring control for biaxial systems
AU - Dötlinger, Alexander
AU - Kennel, Ralph
PY - 2013
Y1 - 2013
N2 - This paper aims at improving the contouring accuracy in biaxial position control systems. A quadratic cost functional consisting of the contour error is formulated including both axes of the system. Linear constraints on the motor voltages and currents are considered. Modeling of the driving motors including the often neglected current dynamics enables precise position control. Even constraints on the contour error can be considered, e.g. to meet manufacturing tolerances. This so called model predictive contouring control is employed in a control structure consisting of a reference governor which adapts the path reference in order to meet constraints and a subordinate unconstrained controller for precise tracking of the reference. This flexible structure is simple to tune and makes it possible to decouple the computationally complex optimization from the subordinate controller.
AB - This paper aims at improving the contouring accuracy in biaxial position control systems. A quadratic cost functional consisting of the contour error is formulated including both axes of the system. Linear constraints on the motor voltages and currents are considered. Modeling of the driving motors including the often neglected current dynamics enables precise position control. Even constraints on the contour error can be considered, e.g. to meet manufacturing tolerances. This so called model predictive contouring control is employed in a control structure consisting of a reference governor which adapts the path reference in order to meet constraints and a subordinate unconstrained controller for precise tracking of the reference. This flexible structure is simple to tune and makes it possible to decouple the computationally complex optimization from the subordinate controller.
UR - http://www.scopus.com/inward/record.url?scp=84877600576&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2013.6505703
DO - 10.1109/ICIT.2013.6505703
M3 - Conference contribution
AN - SCOPUS:84877600576
SN - 9781467345699
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 386
EP - 391
BT - Proceedings - 2013 IEEE International Conference on Industrial Technology, ICIT 2013
T2 - 2013 IEEE International Conference on Industrial Technology, ICIT 2013
Y2 - 25 February 2013 through 28 February 2013
ER -