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precision motion control for electro-hydraulic axis systems under unknown time-variant parameters and disturbances

Chinese Journal of Aeronautics 2024年第1期37卷 463-471页

作者： Xiaowei YANG Yaowen GE Wenxiang DENG Jianyong YAO School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China

This article focuses on asymptotic precision motion control for electro-hydraulic axis systems under unknown time-variant parameters,mismatched and matched disturbances.Different from the traditional adaptive results that are applied to dispose of unknown constant parameters only,the unique feature is that an adaptive-gain nonlinear term is introduced into the control design to handle unknown time-variant parameters.Concurrently both mismatched and matched disturbances existing in electro-hydraulic axis systems can also be addressed in this way.With skillful integration of the backstepping technique and the adaptive control,a synthesized controller framework is successfully developed for electro-hydraulic axis systems,in which the coupled interaction between parameter estimation and disturbance estimation is avoided.Accordingly,this designed controller has the capacity of low-computation costs and simpler parameter tuning when compared to the other ones that integrate the adaptive control and observer/estimator-based technique to dividually handle parameter uncertainties and disturbances.Also,a nonlinear filter is designed to eliminate the“explosion of complexity”issue existing in the classical back-stepping technique.The stability analysis uncovers that all the closed-loop signals are bounded and the asymptotic tracking performance is also assured.Finally,contrastive experiment results validate the superiority of the developed method as well.

关键词： Adaptive control Asymptotic convergence Electro-hydraulic axis system precision motion control Unknown time-variant parameters and disturbances

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维普期刊数据库

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Real-Time Iterative Compensation Framework for precision Mechatronic motion control Systems

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1218-1232页

作者： Chuxiong Hu Ran Zhou Ze Wang Yu Zhu Masayoshi Tomizuka State Key Laboratory of Tribology Department of Mechanical EngineeringTsinghua UniversityBeijing 100084 Beijing Key Laboratory of precision/Ultra-precision Manufacture Equipments and control Tsinghua UniversityBeijing 100084China Department of Mechanical Engineering University of CaliforniaBerkeleyCA 94720-1740 USA IEEE

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,i.e.,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 compen-sation 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.

关键词： precision motion control prediction model real-time iterative compensation trajectory tracking

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维普期刊数据库

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Active Disturbance Rejection Approach with Application to precision motion control

Active Disturbance Rejection Approach with Application to Pr...

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第三十届中国控制会议

作者： WU Dan,CHEN Ken State Key Laboratory of Tribology,Department of precision Instruments & Mechanology,Tsinghua University, Beijing 100084,P.R.China

＜正＞precision motion control applications require high accuracy,fast dynamics and robustness performances.The success is dependent on not only advanced technology in actuators and measuring instruments that provide physical realization hardwares,but also innovative control approaches that contribute to performances improvement.This paper presents a design and reliazation framework of active disturbance rejection strategy for precision motion control problems.The approach deals with the external nonlinear friction,working load and other uncertainties of a motion control system,and the internal plant dynamics variations to be generalized disturbances.Such disturbances are estimated by a unique extended state observer in real time and actively compensated for by a proportional derivative controller.Moreover,the feedforward control is usually involved in the framework to improve the dynamic performances of the motion control system.For purpose of physical realization of the control algorithm,applications of general DSP and FPGA technologies are introduced to simpilify and improve the realization. Finally,a precision motion control example is given to explain the design procedure and industrial application.The initial success provides a new robust motion control design approach.

关键词： precision motion control Active Disturbance Rejection Friction And Load Estimation Feedforward Fast Tool Servo

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Data-driven Nonparametric Model Adaptive precision control for Linear Servo Systems

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International Journal of Automation and computing 2014年第5期11卷 517-526页

作者： Rong-Min Cao Zhong-Sheng Hou Hui-Xing Zhou School of Automation Beijing Information Science & Technology University Advanced control Systems Laboratory Beijing Jiaotong University College of Engineering China Agricultural University

Nowadays, high-precision motion controls are needed in modern manufacturing industry. A data-driven nonparametric model adaptive control(NMAC) method is proposed in this paper to control the position of a linear servo system. The controller design requires no information about the structure of linear servo system, and it is based on the estimation and forecasting of the pseudo-partial derivatives(PPD) which are estimated according to the voltage input and position output of the linear motor. The characteristics and operational mechanism of the permanent magnet synchronous linear motor(PMSLM) are introduced, and the proposed nonparametric model control strategy has been compared with the classic proportional-integral-derivative(PID) control algorithm. Several real-time experiments on the motion control system incorporating a permanent magnet synchronous linear motor showed that the nonparametric model adaptive control method improved the system s response to disturbances and its position-tracking precision, even for a nonlinear system with incompletely known dynamic characteristics.

关键词： Data-driven control nonparametric model adaptive control precision motion control permanent magnet synchronous linear motor robustness

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