GOALI: Precision Motion Control With Iterative Input Refinement

点击翻译按钮获取中文摘要

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.