Abstract
This work is concerned with the development of digital contouring controller for multiaxial servosystem. digital optimal contouring controller is proposed to improve the contouring performance by coordinating each of the controllers of multiple feed drives. The optimal control formulation explicitly includes the contour error in the performance index to be minimized. The contouring control is simulated for straight line and circular contours. Substantial improvement in contouring performance is obtained for a range of contouring conditions. Both steady state and transient error measures have been considered. The simulation results show that the proposed controller reduces contouring errors considerably as compared to the conventional uncoupled control for biaxial systems. The presented study has established the potential of the proposed controller to improve contouring performance. The concepts used here seem to be general enough to be useful in other coordinated motions.
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