Constrained Receding Horizon Contouring Error Control for A Feed Drive System

被引：0

作者：

Gao, Yu ^{[1
]}

Li, Xiaoxu ^{[1
]}

Zhang, Yuanliang ^{[2
]}

机构：

[1] Soochow Univ, Sch Mech & Elect Engn, Suzhou 215000, Peoples R China

[2] Huaihai Inst Technol, Lianyungang 222005, Peoples R China

来源：

2018 37TH CHINESE CONTROL CONFERENCE (CCC) | 2018年

关键词：

Receding Horizon Control; Contouring Error; Feed Drive System; Tracking; TRACKING CONTROL;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a receding horizon controller is developed for regulation problem of a biaxial feed drive system. The tracking error model is formed based on the desired curve and the orthogonal error is regarded as an approximation of real contouring error. The control policy is derived from the optimization of a quadratic cost function, which penalizes future errors and control variables in each sampling time over a finite horizon. The performance of the proposed algorithm is verified via the computer simulations with a predefined trajectory. The result shows the improvement of tracking accuracy by comparing with unconstrained method.

引用

页码：3594 / 3598

页数：5

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