自动化学报2017，Vol.43Issue(12)：2127-2140,14.DOI:10.16383/j.aas.2017.c160725
多轴运动系统非线性轮廓重复跟踪的主从交叉耦合迭代学习控制
A Master-slave Cross-coupled Iterative Learning Control for Repetitive Tracking of Nonlinear Contours in Multi-axis Precision Motion Systems
摘要
Abstract
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.关键词
主从控制/位置域/迭代学习控制/非线性轮廓跟踪/多轴运动系统Key words
Mater-slave control/position domain/iterative learning control/nonlinear contour tracking/multi-axis motion systems引用本文复制引用
凌杰,明敏,冯朝,肖晓晖..多轴运动系统非线性轮廓重复跟踪的主从交叉耦合迭代学习控制[J].自动化学报,2017,43(12):2127-2140,14.基金项目
国家自然科学基金(51375349)资助Supported by National Natural Science Foundation of China(51375349) （51375349）
