TY - GEN
T1 - Compensating flexibility in servo systems using iterative learning control
AU - Wang, Cong
AU - Wang, Zining
AU - Peng, Cheng
AU - Zhao, Yu
AU - Tomizuka, Masayoshi
N1 - Publisher Copyright:
© 2015 by ASME.
PY - 2015
Y1 - 2015
N2 - Industrial servo systems usually have high gear ratio reducers, which introduce flexibility and transmission errors. The consequential vibrations and compliance bring difficulties to many demanding applications. For applications in which the servos move repetitively, iterative learning control (ILC) is a powerful tool to improve performance. An intuitive implementation of ILC for flexibility compensation involves combining a torque ILC with a motor reference ILC. This paper explains why such a direct combination does not work well. A systematic synthesis method is introduced to address the coupling between torque learning and reference learning. In addition, a robust control method is proposed to address system uncertainties. The pro- posed method is demonstrated using a servo control example.
AB - Industrial servo systems usually have high gear ratio reducers, which introduce flexibility and transmission errors. The consequential vibrations and compliance bring difficulties to many demanding applications. For applications in which the servos move repetitively, iterative learning control (ILC) is a powerful tool to improve performance. An intuitive implementation of ILC for flexibility compensation involves combining a torque ILC with a motor reference ILC. This paper explains why such a direct combination does not work well. A systematic synthesis method is introduced to address the coupling between torque learning and reference learning. In addition, a robust control method is proposed to address system uncertainties. The pro- posed method is demonstrated using a servo control example.
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U2 - 10.1115/DSCC2015-9659
DO - 10.1115/DSCC2015-9659
M3 - Conference contribution
AN - SCOPUS:84973484235
T3 - ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
BT - Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems
PB - American Society of Mechanical Engineers
T2 - ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Y2 - 28 October 2015 through 30 October 2015
ER -