Deadbeat feedforward compensation with frequency shaping in fast and precise positioning

Hirose,; Iwasaki,; Kawafuku,; Hirai,

doi:10.1109/iecon.2008.4758353

Cited by 4 publications

(10 citation statements)

References 8 publications

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“…, : ≤ ) of the denominator in eq. (6) as the constraint [10]. Here, the constraint can be defined by the following matrix equation as Affine function of .…”

Section: B a Design Of Initial Value Compensator ( )/mentioning

confidence: 99%

“…Dotted signal flows in Fig.4 ( ) show the proposed initial value compensation based on the specified step settling control [10], where Δ 0 : state error between nominal state * 0 and actual state 0 (Δ 0 = * 0 − 0 ) corresponding to the initial value, : initial value compensation input, * : table position trajectory reference by the IVC, : friction compensation force, and : initial value compensator, respectively. Therefore, there are three inputs for the proposed IVC: , * and .…”

Section: A Outline Of Proposed Approachmentioning

confidence: 99%

“…The free parameter , therefore, can be optimized on the basis of Lagrange multiplier method as well as the method of reference [10] under the constraint of eq. (7):…”

Section: B a Design Of Initial Value Compensator ( )/mentioning

confidence: 99%

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Improvement of settling performance by initial value compensation considering rolling friction characteristic

Maeda

Iwasaki

2010

IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society

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This paper presents a novel initial value compensation (IVC) methodology considering rolling friction properties for the fast and precise positioning. Rolling friction in mechanism behaves as a nonlinear elastic element in the micro displacement region, and deteriorates the positioning performance with the slow settling response. In order to improve the performance, a rolling friction model-based feedforward friction compensation is one of promising approaches. However, in the case that the friction model error exists, the model-based compensation approach can not achieve the desired position response during the transient response, resulting in the deterioration of the settling performance with the response variation and the slow response. In this paper, therefore, an IVC using the specified step settling control framework is applied to achieve the required settling performance without the deterioration. Since the proposed IVC can compensate for the effects of the feedforward friction compensation errors during the transient, the overshoot response, which causes the slow settling response, can be suppressed at the settling. The proposed IVC has been verified by experiments using a prototype of linear motor-driven industrial positioning devices.

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“…, : ≤ ) of the denominator in eq. (6) as the constraint [10]. Here, the constraint can be defined by the following matrix equation as Affine function of .…”

Section: B a Design Of Initial Value Compensator ( )/mentioning

confidence: 99%

Section: A Outline Of Proposed Approachmentioning

confidence: 99%

See 1 more Smart Citation

Improvement of settling performance by initial value compensation considering rolling friction characteristic

Maeda

Iwasaki

2010

IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society

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“…Fig. 3 shows a block diagram of the mode-switching position control system with the IVC, where P (z) is the discrete-time plant, C(z) is the feedback compensator designed by a phase lag-lead filter and notch filters [17], P n (z) is the discrete-time nominal plant model of P (s) under α = 1 in (1) with a zerothorder hold, y is the motor position (= θ m ) as plant output, u is the motor current reference (= i ref ) as plant input, u f is the feedforward control input based on the final-state control framework [18], u b is the feedback control input, and r is the position reference. The block enclosed by the dotted line corresponds to the mode-switching control with the additional IVC, where N f (z)/D f (z) is the initial-value compensator, β is the gain for torque coefficient compensation (β = 1/α), x p0 is the state error of the plant for nominal response as the initial value compensated by the IVC, u ivc is the IVC input, and sw is the switch for additional IVC, which is switched on at the mode-switching timing.…”

Section: Positioning System and Mode-switching Control With Ivcmentioning

confidence: 99%

Improvement of Settling Performance by Mode-Switching Control With Split Initial-Value Compensation Based on Input Shaper

Maeda

Wada

Iwasaki

et al. 2013

IEEE Trans. Ind. Electron.

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This paper presents a novel initial-valuecompensation (IVC) technique for mode-switching-control approaches in the fast and precise positioning of mechatronic systems. Parameter perturbations in plant mechanism and/or actuator generally deteriorate the positioning performance. In order to realize the desired positioning performance with robust property against the perturbations, the mode-switching control with the IVC is one of the promising approaches, where the timing of the mode switching and the time interval of the IVC critically affect the compensation performance. However, the shortening in the IVC operation interval causes an increase in the input amplitude, which leads to deterioration of the positioning performance due to saturation in control input. In this paper, therefore, a split IVC based on input-shaping techniques is applied to prevent the input amplitude from being saturated and to provide adaptiveness and robustness against unknown parameter perturbations. The effectiveness of the proposed approach has been verified by experiments using a prototype of galvanoscanners.Index Terms-Fast and precise positioning, input saturation, input shaper, linear matrix inequality (LMI), mode-switching control, split initial-value compensation (IVC).

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“…A novel deadbeat feedforward compensation technique was presented in [14], which provided the desired frequency shaping in control input to suppress the residual vibration effectively.…”

Section: Introductionmentioning

confidence: 99%

Extended state observer-based time-optimal control for fast and precise point-to-point motions driven by a novel electromagnetic linear actuator

Shi

Chang

2013

Mechatronics

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Deadbeat feedforward compensation with frequency shaping in fast and precise positioning

Cited by 4 publications

References 8 publications

Improvement of settling performance by initial value compensation considering rolling friction characteristic

Improvement of settling performance by initial value compensation considering rolling friction characteristic

Improvement of Settling Performance by Mode-Switching Control With Split Initial-Value Compensation Based on Input Shaper

Extended state observer-based time-optimal control for fast and precise point-to-point motions driven by a novel electromagnetic linear actuator

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