High-Precision Contour-Tracking Control of Ethernet-Based Networked Motion Control Systems

摘要

This paper focuses on the high-precision contour-tracking control of an Ethernet-based networked motion control system (ENMCS) with short time-varying delays and repetitive tasks. The delays and the aperiodic exogenous disturbance are the main factors that deteriorate the tracking performance. An integrated control approach is devised, which consists of three parts: a disturbance observer for rejecting the delay and disturbance, an iterative learning controller for achieving perfect individual-axes tracking, and a cross-coupled controller for further improving the contour-tracking performance. In addition, a fuzzy regulator is proposed in the iteration domain to adjust the contour-controller gains so as to smooth iteration processes of individual axes. Comparative simulations and experiments are carried out to verify the feasibility and effectiveness of the approach.