Cross coupling control design for three-dimensional contouring control system based on layered modeling method

This paper proposes a class of layered modeling and compensation method which has two advantages: the one is that coupling compensation of different layers can be done by using two-axis coupling compensation theory with the simplified coupling model; the other is that this method can adjust layered coupling strength according to control requirements. A typical three-dimensional motion control system is modeled based on the layered modeling method and the cross coupling compensation system is designed. Finally, simulations are made to verify the performance of the proposed cross coupling compensation system. The simulation results show that the proposed cross coupling system can attain higher contouring accuracy than a traditional cross coupling controller and verify that better contouring accuracy can be achieved with applied high coupling strength.