Data-Driven Iterative Trajectory Shaping for Precision Control of Flexible Feed Drives
Data-Driven Iterative Trajectory Shaping for Precision Control of Flexible Feed Drives
复制标题
用于柔性进给驱动器精确控制的数据驱动迭代轨迹整形
DOI：
10.1109/tmech.2020.3045444
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
B. Sencer
中科院分区：
文献类型：
--
作者：
Alper Dumanli;B. Sencer
随着材料加工技术的最新进展，现代制造设备的设计要求正在转向实现更高的速度和精度，而不是刚度和负载能力。增材或超精密制造设备中使用的运动系统需要设计成实现更高的动态定位精度。因此，前馈（FF）控制成为一种有效的工具。本文提出了一种新颖实用的FF控制器设计方法，以扩大跟踪带宽的精密运动系统遭受的结构动力学和摩擦引起的干扰。所提出的前馈控制器的目的是，第一，补偿闭环伺服动态，以扩大命令跟踪带宽，第二，减轻不必要的振动，第三，补偿摩擦干扰引起的定位误差。FF控制器以轨迹预滤波器的形式构造，其中FF补偿信号被注入参考轨迹而不是转矩命令。这使得FF控制器能够方便地应用，而不需要伺服控制器的干预。FF控制器参数通过机器在环迭代自动识别（调整）。为了实现安全可靠的自整定，将参数辨识问题转化为凸优化问题。提出的FF控制器及其参数整定方法进行了实验测试，在工业规模的多轴机床和其性能进行了验证。
With recent advances on material processing technologies, design requirements on modern manufacturing equipment are shifting toward achieving higher speed and accuracy rather than stiffness and load capacity. Motion systems used in additive or ultraprecision manufacturing equipment need to be designed to achieve greater dynamic positioning accuracy. As a result, feedforward (FF) control becomes an effective tool. This article presents a novel and practical FF controller design methodology to widen tracking bandwidth of precision motion systems suffering from structural dynamics and friction-induced disturbances. The proposed feedforward controller is designed to, first, compensate for the closed-loop servo dynamics to widen the command tracking bandwidth, second, mitigate unwanted vibrations, and third, compensate friction disturbance-induced positioning errors. The FF controller is structured in a trajectory prefilter form where the FF compensation signal is injected into the reference trajectory rather than torque command. This facilitates the FF controller to be applied conveniently without intervention with the servo controller. FF controller parameters are identified (tuned) automatically through machine in-the-loop-iterations. Parameter identification is posed as a convex optimization problem to realize safe and reliable auto-tuning. The proposed FF controller and its parameter tuning methodology are tested experimentally on an industrial scale multiaxis machine tool and its performance is validated.
影响因子：
4.1
作者：
Dumanli, Alper;Sencer, Burak
通讯作者：
Sencer, Burak