Open Access
Modal framework for closed-loop analysis of over-actuated motion systems
Reads0
Chats0
TLDR
In this paper, the authors introduce a framework to analyze multivariable controllers for over-actuated motion systems in modal form, which enables them to analyze various closed-loop properties, such as modal tracking behavior and modal disturbance attenuation.Abstract:
A large class of motion systems used in precision applications is required to meet increasing levels of tracking performance whereas costs should not rise drastically. Allowing for more actuators and sensors than rigid-body modes, which is called over-actuation, higher levels of performance can be obtained without increasing mechanical stiffness. However, the design of MIMO controllers for motion systems is not straightforward and a better understanding of the modal behavior in closedloop would be valuable. In this paper we introduce a new framework to analyze multivariable controllers for over-actuated motion systems in modal form. This approach enables us to analyze various closed-loop properties, such as modal tracking behavior and modal disturbance attenuation. Both feedback and feedforward performance is evaluated at the same time, using a global performance measure. The new approach is illustrated by an example.read more
Citations
More filters
Journal ArticleDOI
Model-based spatial feedforward for over-actuated motion systems
Mjc Michael Ronde,Mge Maurice Schneiders,Ejgj Kikken,Ejgj Kikken,van de René René Molengraft,M Maarten Steinbuch +5 more
TL;DR: In this paper, a spatial feed-forward method for over-actuated flexible motions systems is presented, which aims at reducing the vibrations over the complete flexible structure during motion and is experimentally validated on an industrial prototype and compared to mass feedforward and the standard input shaping technique.
Lightweight positioning : design and optimization of an actuator with two controlled degrees of freedom
TL;DR: In this paper, the authors proposed a Lorentz force actuator for a lightweight positioning system that can also be applied in other precision technology applications and evaluated the performance of the actuator with a static electromagnetic analysis.
Proceedings ArticleDOI
Model-based feedforward for inferential motion systems, with application to a prototype lightweight motion system
TL;DR: This paper presents a model-based feedforward method for over-actuated flexible motions systems, with non-collocated sensor and performance locations, that offers freedom to explore new control strategies that exploit the over-Actuation and -sensing.
Multi-level contactless motion system
TL;DR: In this article, the authors present the theory and technology necessary to describe and build a multi-level contactless motion system consisting of three subsystems and model their interaction within this global system, i.e., six DOF contactless planar actuator with moving magnets with a long stroke movement in the x-y plane, contactless power transfer to the moving platform and wireless real-time communication between the ground controller and the plant processes on the platform.
References
More filters
Book
Finite Element Procedures
TL;DR: The Finite Element Method as mentioned in this paper is a method for linear analysis in solid and structural mechanics, and it has been used in many applications, such as heat transfer, field problems, and Incompressible Fluid Flows.
Book
Analytical Methods in Vibrations
TL;DR: In this paper, a book on analytical methods in vibrations covering general mathematical formulations of common features of various vibrating systems is presented, including a mathematical formulation of a vibrational model.
Book ChapterDOI
Wave Propagation in Structures
TL;DR: The present chapter is the culmination of the procedures developed thus far: It allows the analysis of complicated connected structures and develops a matrix methodology.
Book
Dynamics and control of structures : a modal approach
TL;DR: In this article, the authors present a state-space representation of the Deep Space Network Antenna based on the 2D Truss of the DSCN and the LQG Balanced Representation.
Related Papers (5)
Active control of a flexible structure using a modal positive position feedback controller
S. Poh,Amr M. Baz +1 more