Contouring accuracy improvement using cross-coupled control and position error compensator

The cross-coupled control (CCC) is considered to be the most popular approach to reducing contouring error for biaxial contour following tasks. Using the CCC concept as a starting point, this paper will then develop the position error compensator (PEC) approach to reduce contour error. The main advantage of the proposed approach is that it can simultaneously improve tracking and contouring performances by compensating position errors in advance. Moreover, to further reduce the contour error, an integrated motion control scheme consisting of the proposed PEC, a modified version of CCC, and a fuzzy-logic-based feedrate regulator is employed. Several free form contour following experiments have been conducted. Experimental results demonstrate that the proposed approach can significantly reduce the contouring error for biaxial contour following tasks.