Reference governor based model predictive contouring control for biaxial systems

Alexander Dötlinger, Ralph Kennel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 2013 IEEE International Conference on Industrial Technology, ICIT 2013
Pages386-391
Number of pages6
DOIs
StatePublished - 2013
Event2013 IEEE International Conference on Industrial Technology, ICIT 2013 - Cape Town, South Africa
Duration: 25 Feb 201328 Feb 2013

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Conference

Conference2013 IEEE International Conference on Industrial Technology, ICIT 2013
Country/TerritorySouth Africa
CityCape Town
Period25/02/1328/02/13

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