Contouring Error Bounded Control for Biaxial Switched Linear Industrial Systems

核心概念

A novel contouring error-bounded control algorithm is proposed for biaxial switched linear systems to ensure the end-effector can follow a desired trajectory while adhering to a prescribed contouring error tolerance.

摘要

The content discusses the problem of achieving bounded contouring error in biaxial industrial systems, particularly those with position-dependent structural flexibility.

Key highlights:

• Biaxial motion control systems, such as laser cutters and water-jet machines, involve precise and coordinated movement of the end-effector in two-dimensional space. Ensuring bounded contouring error is crucial for maintaining manufacturing accuracy and quality.
• The presence of position-dependent structural flexibility introduces discrepancies between the end-effector and actuator positions, leading to adverse effects on the accuracy of manufactured products, especially in high-acceleration scenarios.
• The system dynamics are modeled as a switched discrete-time linear system, where the switching signal is state-dependent and the exact switching sequence remains unknown to the controller.
• An MPC-based algorithm is proposed to compute switch control invariant sets that can guarantee state, input and contouring error constraints during mode switches.
• To handle the non-compact feasible sets for common industrial contours like linear and circular paths, an optimization-based approach is developed to approximate the feasible sets.
• Theoretical results on the recursive feasibility and closed-loop stability of the proposed method are provided.
• The effectiveness of the proposed approach is validated through comprehensive testing on a high-fidelity model of an industrial laser machine.

統計資料

The maximum contouring error is 0.412 mm, which falls within the acceptable error tolerance of 4 mm.

引述

None

從以下內容提煉的關鍵洞見

Contouring Error Bounded Control for Biaxial Switched Linear Systems

by Meng Yuan,Ye... 於 arxiv.org 04-09-2024

https://arxiv.org/pdf/2404.05404.pdf

深入探究

How can the proposed method be extended to handle systems with unknown disturbances

To extend the proposed method to handle systems with unknown disturbances, we can incorporate robust control techniques. One approach could be to design an adaptive control algorithm that can adjust the controller parameters in real-time based on the system's response to disturbances. By continuously monitoring the system's behavior and updating the control parameters, the controller can effectively compensate for unknown disturbances. Additionally, techniques such as robust model predictive control (MPC) can be employed to account for uncertainties in the system dynamics and disturbances. By formulating the control problem as a robust optimization problem, the controller can ensure stability and performance even in the presence of unknown disturbances.

What are the potential trade-offs between the number of system modes and the magnitude of tracking error spikes during mode switches

The trade-offs between the number of system modes and the magnitude of tracking error spikes during mode switches are crucial considerations in the design of a control system. Increasing the number of system modes can potentially reduce the magnitude of tracking error spikes during mode switches by providing more flexibility in the control strategy. However, this comes at the cost of increased computational complexity and memory requirements. On the other hand, reducing the number of system modes simplifies the control algorithm but may lead to larger tracking error spikes during mode switches. Therefore, the optimal balance between the number of system modes and tracking error spikes needs to be carefully evaluated based on the specific requirements of the application.

How can the insights from this work on contouring control be applied to other industrial applications beyond biaxial motion systems

The insights gained from this work on contouring control can be applied to various other industrial applications beyond biaxial motion systems. For instance:

Robotics: The principles of contouring error-bounded control can be applied to robotic systems to ensure precise and accurate movement along predefined paths, improving the overall performance and efficiency of robotic operations.
Automated Manufacturing: In automated manufacturing processes, contouring control can enhance the accuracy of machining operations, leading to higher quality and consistency in the production of components.
Aerospace Industry: Contouring control techniques can be utilized in aircraft manufacturing for precise cutting and shaping of components, contributing to improved aerodynamics and structural integrity.
Medical Devices: In the production of medical devices, contouring control can help in achieving intricate designs and precise movements required for surgical instruments and implants, ensuring patient safety and optimal performance.
By applying the concepts of bounded contouring error control to these industrial applications, it is possible to enhance operational efficiency, accuracy, and quality across a wide range of sectors.