Journal ArticleDOI
High precision linear motor control via relay-tuning and iterative learning based on zero-phase filtering
TLDR
A feedback-feedforward control structure is proposed for precision motion control of a permanent magnet linear motor for applications which are inherently repetitive in terms of the motion trajectories.Abstract:
In this paper, with a modest amount of modeling effort, a feedback-feedforward control structure is proposed for precision motion control of a permanent magnet linear motor for applications which are inherently repetitive in terms of the motion trajectories. First, a proportional-integral-derivative (PID) feedback controller is designed using an automatic relay tuning method. An iterative learning controller based on zero-phase filtering is applied as feedforward controller to the existing relay-tuned PID feedback controller to enhance the trajectory tracking performance by utilizing the experience gained from the repeated execution of the same operations. Experimental results are presented to demonstrate the practical appeal and effectiveness of the proposed scheme.read more
Citations
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Journal ArticleDOI
Iterative Learning Control: Brief Survey and Categorization
TL;DR: The iterative learning control (ILC) literature published between 1998 and 2004 is categorized and discussed, extending the earlier reviews presented by two of the authors.
Journal ArticleDOI
Precision motion control with disturbance observer for pulsewidth-modulated-driven permanent-magnet linear motors
TL;DR: A robust control scheme employing a disturbance observer to address the sensitivity of the control performance to the disturbances is proposed, and real-time experimental results are provided to verify and confirm the practical effectiveness of the proposed approach.
Journal ArticleDOI
Analysis and Design of Iterative Learning Control Strategies for UPS Inverters
TL;DR: The proposed direct ILC is an effective solution for UPS products where high-quality steady-state output voltage is more important than fast dynamic response, while hybrid ILC can result in excellent steady- state performance with a more improved dynamic response than direct I LC.
Journal ArticleDOI
A High-Precision Motion Control Based on a Periodic Adaptive Disturbance Observer in a PMLSM
TL;DR: In this article, a periodical adaptive disturbance observer is proposed to attenuate periodic disturbances on repetitive motion using permanent magnet linear synchronous motors (PMLSMs), which is based on assumptions that all measured states and disturbances are periodic and repetitive.
Journal ArticleDOI
Performance-Oriented Precision LARC Tracking Motion Control of a Magnetically Levitated Planar Motor With Comparative Experiments
TL;DR: An LARC control scheme containing adaptive robust control (ARC) term and iterative learning control (ILC) term in a serial structure is proposed for the magnetically levitated planar motor to achieve high-performance tracking even there exist parametric variations and uncertain disturbances.
References
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Journal ArticleDOI
Bettering Operation of Robots by Learning
TL;DR: A betterment process for the operation of a mechanical robot in a sense that it betters the nextoperation of a robot by using the previous operation's data is proposed.
Journal ArticleDOI
Paper: Automatic tuning of simple regulators with specifications on phase and amplitude margins
Karl Johan Åström,Tore Hägglund +1 more
TL;DR: A simple method for estimating the critical gain and the critical frequency is described, which may be used for automatic tuning of simple regulators as well as initialization of more complicated adaptive regulators.
Book ChapterDOI
Iterative Learning Control: An Expository Overview
TL;DR: This chapter gives an overview of the field of iterative learning control (ILC), followed by a detailed description of the ILC technique, followed by two illustrative examples that give a flavor of the nature of ILC algorithms and their performance.
Journal ArticleDOI
Linear motor motion control using a learning feedforward controller
TL;DR: Simulations and experimental evaluations show that, with little effort, a high-performance motion system can be obtained with this approach, and an emphasis is placed on robustness.