Practical controller design for precision positioning, independent of friction characteristic
Practical controller design for precision positioning, independent of friction characteristic
复制标题
实用的控制器设计，可实现精确定位，不受摩擦特性的影响
DOI：
10.1016/j.precisioneng.2009.09.006
复制
发表时间：
2010
影响因子：
3.6
通讯作者：
Kaiji Sato
中科院分区：
文献类型：
--
作者：
S. Chong;Kaiji Sato
在这篇文章中，一个实用的控制器设计的非接触和接触机构进行了讨论。该设计方法是适用的，完全独立于摩擦特性。因此，设计者不需要考虑机构的摩擦特性，这是一种有价值的工业控制方法。提出并改进了基于当前标称特性轨迹跟踪（NCTF）控制器的实用控制器设计方法。NCTF控制器是一个综合性的控制器，由一个标称特征轨迹（NCT）和一个PI补偿器组成，它不需要精确的建模和参数辨识。在NCTF控制器设计中，NCT由机构的开环响应构造。开环实验所设计的输入信号需满足以下两个条件：（1）输入信号所产生的位移必须小于机构的工作范围，以避免对机构造成任何损坏;（二）合适的输入信号需要在减速期间产生足够快速和平滑的响应，以满足期望的规格，因为响应显著地影响参考跟随控制系统的特点。到目前为止，NCTF控制器已经被实施到具有足够大的阻尼特性的机构，并且自然满足条件（1）。然而，非接触和低阻尼机构不具有足够的阻尼特性。由于该机构的高阻尼特性以前已被使用过，因此条件（2）仍未被考虑。因此，本文提出了满足这两个条件的输入信号的设计步骤，并通过实验进行了验证。讨论了输入信号与机构摩擦特性无关的一般条件。然后，采用非接触机构和接触机构进行了实验验证。本文分两个部分对绩效评价进行了探讨。在第一部分中，通过使用非接触机制，两个不同的NCT的定位结果进行了比较，以显示修改后的合适的输入的有用性。在第二部分中，以接触机构为例，说明了NCTF控制器的有效性，其设计过程简单实用，与摩擦特性无关。通过实验验证了连续运动NCTF控制器在定位控制和跟踪控制中的有效性。实验结果表明，NCT的开环响应位移始终小于工作范围，输入信号的设计过程与机构的摩擦特性无关。整体而言，连续运动NCTF控制器具有简单实用的设计程序，表现出高性能的定位和跟踪控制与接触机构和非接触机构，相比，PID控制器。PID控制器对两种工况的运动控制性能适应性较差。
In this contribution, a practical controller design for non-contact mechanism and contact mechanism is discussed. The design procedure is applicable and totally independent of friction characteristic. Thus, designer does not need to consider the friction characteristic of a mechanism and it is a valuable controller approach in industry. The practical controller design procedure which based on current Nominal Characteristic Trajectory Following (NCTF) controller is proposed and improved. The NCTF controller is comprehensive, comprising of a Nominal Characteristic Trajectory (NCT) and a PI compensator, which is free from exact modeling and parameter identification. In NCTF controller design, the NCT is constructed from the open-loop responses of the mechanism. The designed input signal for open-loop experiment is needed to satisfy the following two conditions: (1) the displacement by the input signal must be smaller than the working range of the mechanism to avoid any damage to the mechanism; (2) the suitable input signal needs to produce sufficient rapid and smooth response during deceleration to satisfy the desired specifications because the response significantly influences the reference following characteristic of the control system. So far, the NCTF controllers had been implemented to the mechanisms which have sufficient large damping characteristics and it was natural to satisfy the condition (1). However, non-contact and low damping mechanisms do not have sufficient damping characteristics. Since the high damping characteristics of the mechanism have been used before, the condition (2) is still not yet been considered. Therefore, the design procedure of the input signal satisfying the two conditions is proposed and verified by experiments in this paper. The common conditions of the input signal which is independent of friction characteristic of the mechanisms are discussed. Then, the experimental verifications are performed using non-contact mechanism and contact mechanism. In this paper, the performance evaluation is discussed separately in two parts. In part 1, by using the non-contact mechanism, the positioning results of two different NCTs are compared in order to show the usefulness of the modified suitable input. In part 2, the contact mechanism is used to show the effectiveness of the NCTF controller with its simple and practical design procedure, which is independent of friction characteristic. The effectiveness of the Continuous Motion NCTF controller is verified with the PID controller experimentally in positioning control and tracking control. The experimental results prove that the displacements of the open-loop responses for NCTs are always smaller than the working range and the design procedure of the input signal is successfully independent of the friction characteristic of the mechanism. Overall, the Continuous Motion NCTF controller which has simple and practical design procedure exhibits the high performance in positioning and tracking control with contact mechanism and non-contact mechanism, as compared to the PID controller. The PID controller shows the low adaptability in motion control performances for both conditions of mechanism.