Cross-coupled control design of bi-axis feed drive servomechanism based on multitasking real-time kernel

A new structure of cross-coupling controller for precise tracking in motion control is proposed in this paper. When compared with the conventional cross-coupling system, this new structure has the advantage that the compensators in CCC have a simpler design process than conventional ones and so does its stability analysis. The proposed compensator (or controller) is evaluated and compared experimentally with a traditional uncoupled controller on a microcomputer, which is ported a RTOS, controlled dual-axis positioning system. The experimental results show that the new structure of cross-coupling controller remarkably reduces contour error. In addition, this new controller can be implemented easily on a majority of motion systems in use today via reprogramming the reference position command subroutine.