Experimentally shows enhanced contouring accuracy in a machining center using a novel control law and task coordinate frame approach.
In this paper we will show that contouring performance can be viewed as a regulation problem in a moving task coordinate frame that is attached to the desired contour. By transforming the machine tool feed drive dynamics to this task coordinate frame, a control law is designed to assign different dynamics to the tangential and normal directions. The resulting control law consists of a linear time-varying proportional-plus-derivative (PD) position error feedback control law and a linear time invariant trajectory feedforward control law. Experimental results of the proposed control law on the motion axes of a machining center, Matsuura 510V, showed significant improvement of the contouring accuracy compared to the existing servo controller.
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Chiu et al. (1995) studied this question.
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