Multi-Axis Motion Control Based on Time-Varying Norm Optimal Cross-Coupled Iterative Learning

被引：12
|
作者：
Xu, Wan [1 ]
Hou, Jie [1 ]
Li, Jie [2 ]
Yuan, Cong [1 ]
Simeone, Alessandro [3 ]
机构：
[1] Hubei Univ Technol, Sch Mech Engn, Wuhan 430068, Peoples R China
[2] Donghua Univ, Coll Mech Engn, Shanghai 201620, Peoples R China
[3] Shantou Univ, Coll Engn, Shantou 515063, Peoples R China
来源：
IEEE ACCESS | 2020年 / 8卷
基金：
中国国家自然科学基金;
关键词：
Time-varying weighted matrix; iterative learning; norm optimal; cross coupling; multi-axis motion control; ILC;
D O I：
10.1109/ACCESS.2020.3007422
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In the process of multi-axis contour tracking control, the traditional time-invariant method could lead to a significant error in contour tracking due to the existence of two different motion conditions, namely single-axis independent motion and multi-axis coupled motion. In order to tackle this issue, a time-varying weighting matrix has been developed considering the trajectory and time-varying random disturbance. In this paper, a time-varying control method for multi-axis motion based on norm optimal cross-coupling iterative learning is proposed. Compared to the time-invariant control method, the simulation and experiment results demonstrate that the proposed method can effectively reduce the contour error improving the multi-axis control precision.
引用
收藏
页码：124802 / 124811
页数：10
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