Reduction of impact force by model prediction and final-state control for a high precision catapult stage
Reduction of impact force by model prediction and final-state control for a high precision catapult stage
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DOI：
10.1109/iecon.2016.7793026
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发表时间：
2016-10
期刊：
影响因子：
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通讯作者：
Yuma Yazaki;H. Fujimoto;K. Sakata;Atsushi Hara;K. Saiki
中科院分区：
文献类型：
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作者：
Yuma Yazaki;H. Fujimoto;K. Sakata;Atsushi Hara;K. Saiki
弹射级是一种高精度的双级，采用了一种新的结构，通过允许精细和粗糙部件之间的接触，可以适应不断增加的尺寸和加速度。冲击力发生在加速和减速区域，并可能降低一个阶段。因此，本文提出了一种将模型预测与最终状态控制相结合的考虑推力限制的减小冲击力的控制方法。在该方法中，通过求解优化问题自动确定精细阶段的激活时间。仿真和实验结果表明，该方法能显著减小精粗零件之间的撞击力。
The catapult stage is a high-precision dual stage with a new structure which, by allowing contact between fine and coarse parts, is compatible with increasing size and acceleration. Impact force occurs in acceleration and deceleration regions, and may degrade a stage. This paper thus proposes a control method to reduce the impact force that considers the thrust limitation by combining model prediction and final-state control. In the proposed method, the timing to activate the fine stage is automatically determined by solving an optimization problem. Simulation and experimental results demonstrate that the method can significantly reduce the impact force between the fine and coarse parts.