Position loop-based cross-coupled control for high-speed machining

Recent work recognizes that cross-coupled control (CCC) can improve the accuracy of contour tracking in biaxial systems evidently. In this paper, a structure, ejecting the cross compensated control effort into the position input directly, is proposed. In order to obtain the cross-coupling gains, an approach for contour error approximation to arbitrary regular curve is set up. Furthermore, it turns to deal with an equivalent robust system when analyze the stability of the proposed CCC structure. The experimental results indicate that the contouring error is reduced by half when the introduced structure is applied.