LPV sequential loop closing for high-precision motion systems

Increasingly stringent throughput requirements in the industry necessitate the need for lightweight design of high-precision motion systems to allow for high accelerations, while still achieving accurate positioning of the moving-body. The presence of position dependent dynamics in such motion syste...

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Bibliographic Details
Published in2022 American Control Conference (ACC) pp. 3178 - 3183
Main Authors Broens, Yorick, Butler, Hans, Toth, Roland
Format Conference Proceeding
LanguageEnglish
Published American Automatic Control Council 08.06.2022
Subjects
Actuators
Control design
Dynamics
Industries
Simulation
Tracking
Tracking loops
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Summary:Increasingly stringent throughput requirements in the industry necessitate the need for lightweight design of high-precision motion systems to allow for high accelerations, while still achieving accurate positioning of the moving-body. The presence of position dependent dynamics in such motion systems severely limits achievable position tracking performance using conventional sequential loop closing (SLC) control design strategies. This paper presents a novel extension of the conventional SLC design framework towards linear-parameter-varying systems, which allows to circumvent limitations that are introduced by position dependent effects in high-precision motion systems. Advantages of the proposed control design approach are demonstrated in simulation using a high-fidelity model of a moving-magnet planar actuator system, which exhibits position dependency in both actuation and sensing.
ISSN:2378-5861
DOI:10.23919/ACC53348.2022.9867621