报告详情
Contour Error Control of X-Y Motion Platform Based on Robust Predictive
编号：419
访问权限：公开
更新：2021-06-29 18:27:02
浏览：1207次
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摘要
The purpose of contour control is to reduce contour error, but the contour performance is limited by the system delay. Although the conventional position predictive control (C-PPC) can solve the above problem, it relies on the system parameter and ignores the coupling delay. In other words, C-PPC uses an inaccurate parameter and prediction period. To optimize the contour performance for the X-Y motion platform with parameter mismatch and system delay, a robust position predictive control (R-PPC) is proposed. Firstly, prediction error sensitivity in C-PPC is analyzed respectively when the parameter is mismatched and the prediction period is inaccurate. Then a simplified two-step predictive model is developed, which does not depend on the specific motor model and parameter. Based on this model, the robustness coefficients are introduced into the prediction model to establish R-PPC. Theoretical analysis proves that R-PPC can reduce the prediction error sensitivity by adjusting the robustness coefficients, so as to obtain more accurate position information. The simulations show that, compared with the PID controller and C-PPC, the proposed R-PPC can effectively reduce the contour error in the X-Y motion platform by improving the prediction model robustness. It means that the prediction error caused by the mismatched parameter in R-PPC is the smallest.
关键词
contour error;system delay;parameter mismatch;prediction period;X-Y motion platform
报告人
Du Quankai
Student HUAQIAO UniversityQuankai Du received the B.S. degree in College of Information Science and Engineering, Huaqiao University, Fujian, China, in 2019. He is currently working toward the M.S. degree in College of Information Science and Engineering, Huaqiao University, Fujian,China. His research interests include precision motion control and high-performance multi-axis contour control.
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重要日期
-
会议日期
07月01日
2021
至07月04日
2021
-
07月03日 2021
报告提交截止日期
-
11月03日 2021
注册截止日期
主办单位
Huazhong University of Science and Technology, China
协办单位
University of Sydney, Australia
Southwest Jiaotong University, China
Southwest Jiaotong University, China
联系方式
- Mr. 港辉曲
- 57******@qq.com
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