Application of Iterative Learning Control in X-Y Precision Planar Motion Platform
文献类型：会议论文
| 作者 | Yan HY(闫红雨)2; Jia DP(贾丹平)3; Zhang T(张涛)1,4,5,6 ; Zhang HL(张华良)4,5,6; Xiong, Yingjie7; Lu X(路续)2; Liu Y(刘阳)2
|
| 出版日期 | 2021 |
| 会议日期 | October 22-24, 2021 |
| 会议地点 | Beijing, China |
| 关键词 | Iterative learning control tracking error XY precision motion stage |
| 页码 | 2761-2766 |
| 英文摘要 | The size of the tracking error is one of the important indicators to measure the control system of the X-Y Precision Planar Motion Platform. Iterative learning control (ILC) can obtain higher tracking accuracy through multiple iterations. However, it is found in experiments that the tracking error of the XY precision motion stage using ordinary PD-type iterative learning will eventually fluctuate in a relatively range, and some high-frequency Noise will seriously affect the stability of the system after many iterations. Aiming at the above problems, a PD-type variable gain open-closed loop ILC with a low-pass filter is proposed. This control scheme can effectively remove high-frequency noise and reduce tracking errors. Finally, a hardware-in-the-loop real-time simulator is used to conduct a comparative experiment. Through comparison with PID controller and ordinary PD-type ILC, the experimental consequence show that this arithmetic has a smaller tracking error than the other two algorithms. |
| 产权排序 | 3 |
| 会议录 | Proceeding - 2021 China Automation Congress, CAC 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-2647-3 |
| 源URL | [http://ir.sia.cn/handle/173321/30797]  |
| 专题 | 沈阳自动化研究所_工业控制网络与系统研究室 |
| 通讯作者 | Yan HY(闫红雨) |
| 作者单位 | 1.School of Electrica l Engineering, Dalian University of Technology, Dalian, China 2.School of Artificial Intelligence, Shenyang University of Technology, Shenyang, China 3.School of Information Science and Engineering, Shenyang University of Technology, Shenyang, China 4.Key Laboratory of Networked Control Systems, Chinese Academy of Sciences, Shenyang, China 5.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 6.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 7.College of Information Science and Engineering, Northeastern University, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Yan HY,Jia DP,Zhang T,et al. Application of Iterative Learning Control in X-Y Precision Planar Motion Platform[C]. 见:. Beijing, China. October 22-24, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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