NURBS path tracking control of a scanning mirror system based on EtherCAT fieldbus

研究成果: Conference contribution同行評審

1 引文 斯高帕斯(Scopus)

摘要

In this paper, an EtherCAT scanning mirror system with function of NURBS path tracking control was investigated. By using EtherCAT protocol to connect master computer with a scanning mirror system, we did a first attempt to implement position control by the master computer, so that one can apply an advanced control algorithm to the system instead of applying a distributed control algorithm on the proprietary driver of the slave device. The technical issue of this configuration like commutation delay caused by the three-buffer-mode is addressed. A two-staged H-infinity with feed-forward controller is designed for the position control loop. Moreover, considering the widely used of non-uniform rational B-spline (NURBS) in the field of CAD/CAM, we added the function of NURBS path planning in the controller so that the system can deal with complex NURBS curves. The experiment results showed that the proposed method can reduce tracking error and have better performance when comparing with traditional distributed control strategy.

原文English
主出版物標題2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018
發行者Institute of Electrical and Electronics Engineers Inc.
頁面79-84
頁數6
ISBN(電子)9781538666630
DOIs
出版狀態Published - 8 6月 2018
事件3rd International Conference on Control and Robotics Engineering, ICCRE 2018 - Nagoya, Japan
持續時間: 20 4月 201823 4月 2018

出版系列

名字2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018

Conference

Conference3rd International Conference on Control and Robotics Engineering, ICCRE 2018
國家/地區Japan
城市Nagoya
期間20/04/1823/04/18

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