GOALI: Precision Motion Control With Iterative Input Refinement

GOALI：具有迭代输入细化的精密运动控制

• 批准号: 0301827
• 负责人: John Wen
• 金额: --
• 依托单位: Rensselaer Polytechnic Institute
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-05-01 至 2007-04-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0301827&HistoricalAwards=false
• 关键词: GOALI; Precision; Motion; Control; Iterative

Driven by the continuing demands of higher throughput and betterquality in the electronics industry, motion requirement of mechanicalcomponents is becoming increasingly stringent in terms of speed andprecision. At such performance regimes, mechanical vibration,electrical saturation, and system nonlinearity become the mainbottlenecks. Based on the academic/industry collaboration initiatedby the PI's, a promising input iteration approach has beenproposed to take these issues into account, instead of the traditionalinput shaping approach, which is only effective for linear systemswith a small number of resonant modes. This research will address theconvergence, performance, and robustness of the iterative refinementalgorithm, enhance its effectiveness by including on-line optimizationand general trajectory tracking, validate and demonstrate the resultsexperimentally on several precision motion testbeds, and implement onindustrial electronic packaging machines. Because of the presence ofmotion control in applications small and large, including MEMSactuation, micro-manufacturing, disk drives, and machine tools, it isanticipated that the algorithms disseminated based on this researchwill have broad applicability to diverse manufacturing industries. Inaddition, the precision motion testbeds developed for this researchwill be used in undergraduate control courses to aide teaching ofmodeling and control design of high performance motion systems.

随着电子工业对生产能力和质量要求的不断提高，对机械部件运动速度和精度的要求也越来越高。 在这样的性能制度，机械振动，电饱和，和系统的非线性成为主要的瓶颈。 基于PI发起的学术/工业合作，提出了一种有前途的输入迭代方法来考虑这些问题，而不是传统的输入成形方法，该方法仅对具有少量谐振模式的线性系统有效。 本研究将探讨迭代修正演算法之收敛性、效能与强健性，并借由线上最佳化与一般轨迹追踪来提升其有效性，在数个精密运动实验平台上验证与验证结果，并在工业电子封装机上实作。由于运动控制在大大小小的应用中的存在，包括MEMS致动，微型制造，磁盘驱动器和机床，预计基于这项研究传播的算法将广泛适用于各种制造业。 此外，本研究所开发的精密运动实验平台将用于本科控制课程，以辅助高性能运动系统建模与控制设计的教学。