Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

A Two-Loop Performance-Oriented Tip-Tracking Control of a Linear-Motor-Driven Flexible Beam System With Experiments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

The purchase and pricing options are temporarily unavailable. Please try again later.
4 Author(s)
Lu Lu ; State Key Lab. of Fluid Power Transm. & Control, Zhejiang Univ., Hangzhou, China ; Zheng Chen ; Bin Yao ; Qingfeng Wang

In this paper, a two-loop control structure for the constrained tip regulation of a linear-motor-driven flexible beam is developed to achieve high performance. Specifically, in the inner loop, a feedback control law with freely assignable closed-loop poles is designed to achieve an arbitrarily good disturbance rejection capability at steady state. In the outer loop, an online trajectory replanning unit is constructed so that the tip-position output of the beam converges to its desired target as fast as possible while all the constraints of the system are satisfied. Theoretically, it is shown that the proposed approach can achieve a sufficiently fast transient converging speed of the tracking error and a guaranteed steady-state tracking accuracy. The proposed strategy is tested on a HIWIN linear-motor-driven stage system with a flexible beam clamped. Experimental results obtained demonstrate the effectiveness and applicability of the proposed approach.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:60 ,  Issue: 3 )