The global task coordinate frame (GTCF) based nonlinear adaptive robust control (ARC) method was extended to design a contouring motion controller for biaxial electrohydraulic system, in order to solve precise control problem of contouring motion. The nonlinear dynamic model of the biaxial electrohydraulic system was developed in Cartesian coordinates, and the model is transformed into the GTCF. Considering the strongly coupled and highly nonlinear dynamic model of the electrohydraulic system obtained after coordinate transformation as well as parametric uncertainties, uncertain nonlinearities and external disturbance inherently in the model, the nonlinear adaptive robust control method was adopted to synthesize the contouring motion controller. In the designed controller, contouring control stiffness and tracking control stiffness can be regulated flexibly, which will potentially improve system stability without losing contouring control performance. The proposed GTCF based ARC method and cross-coupled ARC method were compared in experiment. As a result, the root mean square values of contour error for circular desired trajectory are less than 15μm while using GTCF based ARC method. The experimental results show that GTCF based ARC achieves satisfied contouring control performance and presents excellent coordinating ability.
XIONG Yi, WEI Jian hua, FENG Rui lin, ZHANG Qiang. Global task coordinate frame based contouring control for biaxial electrohydraulic system. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2015, 49(11): 2063-2072.
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