GOALI: Precision Motion Control With Iterative Input Refinement

在电子工业对更高的吞吐量和更好的质量的不断要求的推动下，机械部件的运动要求在速度和精度方面变得越来越严格。在这样的性能状态下，机械振动、电饱和和系统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，而不是传统的输入整形方法，这种方法只对具有少量谐振模式的线性系统有效。本研究将解决迭代细化算法的收敛性，性能和鲁棒性，通过包括在线优化和一般轨迹跟踪来增强其有效性，在几个精密运动试验台上验证和演示实验结果，并在工业电子包装机上实施。由于运动控制在小型和大型应用中的存在，包括memactuation，微制造，磁盘驱动器和机床，预计基于本研究传播的算法将广泛适用于各种制造行业。此外，本研究开发的精密运动试验台将用于本科控制课程，以辅助高性能运动系统建模和控制设计的教学。

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.