Perfectly matched closed-loop dynamics based on IP controller for bi-axial contour following
Perfectly matched closed-loop dynamics based on IP controller for bi-axial contour following
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DOI：
10.1177/0959651816681718
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发表时间：
2017-01
期刊：
影响因子：
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通讯作者：
Jianhua Wu;Z. Xiong;H. Ding
中科院分区：
文献类型：
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作者：
Jianhua Wu;Z. Xiong;H. Ding
本文旨在实现双轴系统的高轮廓跟踪性能。首先，分析了闭环动力学对轮廓跟踪性能的影响，确定了最佳匹配的闭环动力学。其次，采用积分比例控制器对各轴进行控制，并提出了参数整定方法以实现最佳匹配。调谐方法包括两个主要部分。一个主要部分是通过设置两个轴具有相同的闭环传递函数来建立两个控制器参数之间的关系。另一个主要部分是根据带宽指数逐环确定各个IP控制器参数。相应地，设计过程分两步实现。首先对带宽较小的轴进行控制器参数整定，然后根据上述关系对另一轴进行控制器参数整定。在实际应用中，为了提高系统的运动性能，通常需要加入前馈控制器，其参数依赖于各个闭环系统的动态特性，可以直接确定。本文的新奇在于，不需要耦合机制来完全匹配闭环动力学，并且仅通过单独的控制器设计来提高轮廓跟踪性能。控制器和整定方法简单，易于实现，这是感兴趣的控制工程师。实验在X-Y运动平台上进行，控制平台沿菱形和圆形轮廓运动。实验结果表明，该方法能够很好地匹配闭环动力学，显著提高轮廓跟踪性能。
This article aims to achieve high contour following performance for bi-axial systems. First, the effects of closed-loop dynamics on the contour following performance are analyzed and it is determined that perfectly matched closed-loop dynamics is preferable. Next, the Integral-Proportional (IP) controller is utilized to control each axis and the parameters tuning method is proposed to achieve perfect matching. The tuning method contains two main parts. One primary part is to establish the relations between the two controller parameters by setting both axes to have the same closed-loop transfer functions. The other primary part is to determine the individual IP controller parameters loop by loop according to the bandwidth index. The design process is correspondingly implemented in two steps. First, the smaller bandwidth axis controller parameters are tuned, and then the other axis is tuned according to the above relations. In applications, feedforward controllers are usually added to enhance the motion performance, whose parameters depend on the individual closed-loop dynamics and can be directly determined. The novelty of this article is that no coupling mechanism is required to perfectly match the closed-loop dynamics and the contour following performance is improved via individual controller design alone. Both the controller and the tuning method are simple and easy to implement, which are of interest to control engineers. Experiments are carried out on an X-Y motion stage, which is commanded to follow diamond and circle contours. Results show that the proposed method can match closed-loop dynamics perfectly and significantly improve the contour following performance.