Initial Value Compensation Using Additional Input for Semi-Closed Control Systems

Hirose, Noriaki; Iwasaki, Makoto; Kawafuku, Motohiro; Hirai, Hiromu

doi:10.1109/tie.2008.2009238

Cited by 27 publications

(7 citation statements)

References 13 publications

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“…Configuration of Prototype Fig. 1 shows a configuration of a positioning device for galvanoscanners in laser manufacturing machines, as a laboratory experimental setup [10], [12]. The galvanoscanner is composed of a servomotor with a galvanomirror, where the motor angle can be directly detected and controlled.…”

Section: Positioning System and Mode-switching Control With Ivcmentioning

confidence: 99%

“…By superimposing u ivcq on the plant input, the initial-value response y 0q can be given as follows [2], [7], [9], [10]:…”

Section: A Conventional Lmi-based Ivc Design Considering Input Amplimentioning

confidence: 99%

“…, n cp ) of the denominator D cp (z) in (10) as the constraint. The constraint, therefore, can be defined by the following matrix equation as an affine function of a q [10], [11]:…”

Section: A Conventional Lmi-based Ivc Design Considering Input Amplimentioning

confidence: 99%

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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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Section: Positioning System and Mode-switching Control With Ivcmentioning

confidence: 99%

“…By superimposing u ivcq on the plant input, the initial-value response y 0q can be given as follows [2], [7], [9], [10]:…”

Section: A Conventional Lmi-based Ivc Design Considering Input Amplimentioning

confidence: 99%

See 1 more Smart Citation

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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“…where ∈ ℛ +1 is given as: The transfer characteristic of for 0 can be represented as follows [8], [11]:…”

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

confidence: 99%

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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“…More specifically, a specific value is assigned to the integral state in a PID controller once or twice for monotonic, non-overshooting responses, and it is not required to retune feedback gains for different initial states. For mode-switching control systems, several initial-value compensation (IVC) schemes 11–14 have been proposed to specify the initial value of controller state at a mode-switching instant. In these schemes, the initial value is a linear combination of the initial values of a plant’s state variables, which cannot ensure non-overshooting responses.…”

Section: Introductionmentioning

confidence: 99%

Initial-value compensation of a proportional–integral–derivative controller for non-overshooting motion

Lu¹,

Liu

2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents a proportional–integral–derivative controller design for monotonic, non-overshooting output responses of a class of second-order plants that do not need to be initially at rest. The proposed scheme is applicable to twice-differentiable reference commands, and monotonic, non-overshooting responses are achieved by compensating for the initial value of integral state. That is, the integral state is initially set to a certain value so that the subsequent response has no overshoot. In the proposed scheme, the initial value that should be assigned to the integral feedback is found to be a nonlinear function of the plant’s initial state. This result differs from those in previous schemes that constrain the controller’s initial state to be a linear function of the plant’s initial state. The proposed scheme is practically applied to layer-jump control and single-track jump control of an optical disk drive. Experimental results confirm the effectiveness of the proposed scheme and its applicability to mode-switching control systems.

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Initial Value Compensation Using Additional Input for Semi-Closed Control Systems

Cited by 27 publications

References 13 publications

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

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

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

Initial-value compensation of a proportional–integral–derivative controller for non-overshooting motion

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