Robust controller design for PTP motion of vertical XY positioning systems with a flexible beam
Robust controller design for PTP motion of vertical XY positioning systems with a flexible beam
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用于具有柔性梁的垂直 XY 定位系统的 PTP 运动的鲁棒控制器设计
DOI：
10.1109/tmech.2003.809163
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发表时间：
2003
影响因子：
6.4
通讯作者：
Y. Youm
中科院分区：
文献类型：
--
作者：
B. Kim;Sangdeok Park;W. Chung;Y. Youm
提出了一种用于XY柔性梁垂直定位系统精确定位和振动抑制的点对点运动控制方法。该方法由前馈控制器和反馈控制器组成。基于系统的解析建模和频率方程，提出了输入预整形作为前馈控制器，以产生期望的响应。设计了基于鲁棒内环补偿器的反馈控制器，以满足指定的性能指标，并在存在不确定性和扰动的情况下使整个系统稳定。通过对输入预成形控制器和反馈控制器的集成，表明系统是稳定的，柔性梁的振动得到抑制。该算法在由小车、弹性梁和移动质量组成的XY定位系统上进行了实验验证。
This paper presents a point-to-point (PTP) motion control method for accurate positioning and vibration suppression of a vertical XY positioning system with a flexible beam. The proposed method is composed of a feedforward and feedback controller. The input preshaping based on the analytic modeling and frequency equation of the system is proposed as a feedforward controller to produce the desired responses. The feedback controller based on a robust internal-loop compensator is designed to meet the specified performance and to stabilize the whole system in the presence of uncertainties and disturbances. By integrating the input preshaping controller and feedback controller, it is shown that the system is stable and the vibration of the flexible beam is suppressed. The proposed algorithm is demonstrated experimentally on an XY positioning system which consists of a base cart, elastic beam and moving mass.