论文标题
高精度运动系统的LPV顺序循环闭合
LPV sequential loop closing for high-precision motion systems
论文作者
论文摘要
行业中越来越严格的吞吐量要求需要对高精度运动系统的轻巧设计，以允许高速加速，同时仍然可以实现移动体的准确定位。使用常规顺序循环闭合（SLC）控制设计策略，在此类运动系统中的位置依赖动力学的存在严重限制了可实现的位置跟踪性能。本文介绍了传统的SLC设计框架向线性参数变化系统的新颖扩展，该系统允许绕过高度效果在高度精确运动系统中引入的局限性。在模拟中使用移动磁铁平面执行器系统的高保真模型证明了所提出的控制设计方法的优势，该模型在致动和传感方面都表现出位置依赖性。
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.
