Real-Time Iterative Compensation Framework for Precision Mechatronic Motion Control Systems

被引:7
|
作者
Hu, Chuxiong [1 ,2 ]
Zhou, Ran [1 ,2 ]
Wang, Ze [1 ,2 ]
Zhu, Yu [1 ,2 ]
Tomizuka, Masayoshi [3 ]
机构
[1] Tsinghua Univ, Dept Mech Engn, State Key Lab Tribol, Beijing 100084, Peoples R China
[2] Tsinghua Univ, Beijing Key Lab Precis Ultraprecis Manufacture Eq, Beijing 100084, Peoples R China
[3] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
基金
北京市自然科学基金; 中国博士后科学基金;
关键词
Precision motion control; prediction model; real-time iterative compensation; trajectory tracking; TRAJECTORY TRACKING CONTROL; NONLINEAR-SYSTEMS; LEARNING CONTROL; PREDICTION; ERROR; PHASE;
D O I
10.1109/JAS.2022.105689
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
With regard to precision/ultra-precision motion systems, it is important to achieve excellent tracking performance for various trajectory tracking tasks even under uncertain external disturbances. In this paper, to overcome the limitation of robustness to trajectory variations and external disturbances in offline feedforward compensation strategies such as iterative learning control (ILC), a novel real-time iterative compensation (RIC) control framework is proposed for precision motion systems without changing the inner closed-loop controller. Specifically, the RIC method can be divided into two parts, ie., accurate model prediction and real-time iterative compensation. An accurate prediction model considering lumped disturbances is firstly established to predict tracking errors at future sampling times. In light of predicted errors, a feedforward compensation term is developed to modify the following reference trajectory by real-time iterative calculation. Both the prediction and compensation processes are finished in a real-time motion control sampling period. The stability and convergence of the entire control system after real-time iterative compensation is analyzed for different conditions. Various simulation results consistently demonstrate that the proposed RIC framework possesses satisfactory dynamic regulation capability, which contributes to high tracking accuracy comparable to ILC or even better and strong robustness.
引用
收藏
页码:1218 / 1232
页数:15
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