Optimal LQ feedforward tracking with preview: Practical design for rigid body motion control

被引：11

作者：

Cole, Matthew O. T. ^{[1
]}

Wongratanaphisan, Theeraphong ^{[2
]}

机构：

[1] Univ Bath, Dept Mech Engn, Bath BA2 7AY, Avon, England

[2] Chiang Mai Univ, Dept Mech Engn, Chiang Mai 50200, Thailand

来源：

CONTROL ENGINEERING PRACTICE | 2014年 / 26卷

关键词：

Optimal control; Linear quadratic; Tracking control; Reference preview; Motion control; INVERSION;

D O I：

10.1016/j.conengprac.2013.12.007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

For reference-tracking motion control, preview-based linear quadratic (LQ) design methods provide an effective means to balance tracking performance with available actuation capacity. This paper considers a control structure for which the optimal feedforward controller is independent of the feedback controller. In this way, explicit implementation formulas for feedforward controllers are derived that can be applied to a range of rigid-body motion systems. Key aspects of the optimal LQ solutions are identified, particularly how the choice of design weightings affect steady-state error for polynomial tracking. A redesign procedure for finite preview-time is proposed that preserves exact polynomial tracking properties and control bandwidth of the optimal solutions. Comparative experimental results are presented for a motor-driven linear motion stage. (C) 2013 Elsevier Ltd. All rights reserved.

引用

页码：41 / 50

页数：10

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