LAUSR

As the basis of contouring motion control, the estimation of contouring error is one of the most important research topic in the field of multiaxis coordination control. In extreme contour cases with high speed, large curvature and sharp corner, inaccurate contouring error estimation and poor real-time performance are two key problems for existing estimation methods. In order to guarantee the real-time performance of the iterative based contouring error estimation methods, a novel iterative calculation method based on Atiken acceleration is proposed in this article. By means of local linearization of the iteration points, the proposed method can not only accelerate the solution of contouring error points, but also effectively prevent the divergence problem caused by improper selection of initial value points, thus guaranteeing the accuracy of contouring error estimation. The proposed accelerated iterative algorithm is verified on a three-axis motion system and compared with the existing numerical iteration method and noniterative method for contouring error estimation. The experimental results show that the proposed method is significantly improved in both calculation speed and solution accuracy, especially in the case of extreme contour.