A Master-slave Cross-coupled Iterative Learning Control for Repetitive Tracking of Nonlinear Contours in Multi-axis Precision Motion Systems

被引：0
|
作者：
Ling J. [1 ]
Ming M. [1 ]
Feng Z. [1 ]
Xiao X.-H. [1 ]
机构：
[1] School of Power and Mechanical Engineering, Wuhan University, Wuhan
来源：
Xiao, Xiao-Hui (xhxiao@whu.edu.cn) | 1600年 / Science Press卷 / 43期
基金：
中国国家自然科学基金;
关键词：
Iterative learning control; Mater-slave control; Multi-axis motion systems; Nonlinear contour tracking; Position domain;
D O I：
10.16383/j.aas.2017.c160725
中图分类号：
学科分类号：
摘要：
In traditional time domain cross-coupled iterative learning control (CCILC) design, the requirements of high calculation accuracy of coupling gains between axes and low computational efficiency restrict its application to nonlinear contour tracking in repetitive tasks. This paper presents a master-slave cross-coupled iterative learning control. Based on the master-slave control design concept, the master motion axis applies time domain CCILC, while the slave motion axis adopts position domain CCILC (PDCCILC). The proposed PDCCILC control can improve synchronization between axes as well as relieve the dependence on accuracy of coupling gains, therefore, the efficient contour error vector method can be adopted to estimate the coupling gains. both stability and performance analyses are conducted using the lifted system representation method. Simulation and experimental results of the three typical nonlinear contour tracking cases (i.e., semi-circle, parabola and spiral) with a two-axis micro-motion stage have demonstrated superiority and efficacy of the proposed controller. Copyright © 2017 Acta Automatica Sinica. All rights reserved.
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收藏
页码：2127 / 2140
页数：13
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