论文标题
在超越刚性身体的模态观察者上
On modal observers for beyond rigid body $H_\infty$ control in high-precision mechatronics
论文作者
论文摘要
对绩效的不断增长导致对高精度运动系统的吞吐量和定位准确性的需求越来越严格，这通常遭受依赖于位置的效果，这些效应源于相对驱动和移动体的感知。由于机械设计高度僵硬，通常使用刚体控制设计方法来控制此类系统。尽管如此，依赖位置的灵活动力学的存在严重限制了可实现的位置跟踪性能。本文介绍了传统的刚体控制框架的两个扩展，以主动控制位置依赖性柔性动力学。此外，还提出了一种新颖的控制设计方法，该方法允许通过结构化的$ H_ \ infty $ co-Design来塑造完整的闭环系统。该方法的有效性通过使用最先进的移动磁铁平面执行器的高保真模型进行验证。
The ever increasing need for performance results in increasingly rigorous demands on throughput and positioning accuracy of high-precision motion systems, which often suffer from position dependent effects that originate from relative actuation and sensing of the moving-body. Due to the highly stiff mechanical design, such systems are typically controlled using rigid body control design approaches. Nonetheless, the presence of position dependent flexible dynamics severely limits attainable position tracking performance. This paper presents two extensions of the conventional rigid body control framework towards active control of position dependent flexible dynamics. Additionally, a novel control design approach is presented, which allows for shaping of the full closed-loop system by means of structured $H_\infty$ co-design. The effectiveness of the approach is validated through simulation using a high-fidelity model of a state-of-the-art moving-magnet planar actuator.
