Real-Time Iterative Compensation Framework for Precision Mechatronic Motion Control Systems  

作　　者：Chuxiong Hu Ran Zhou Ze Wang Yu Zhu Masayoshi Tomizuka 

机构地区：[1]State Key Laboratory of Tribology,Department of Mechanical Engineering,Tsinghua University,Beijing 100084 [2]Beijing Key Laboratory of Precision/Ultra-Precision Manufacture Equipments and Control,Tsinghua University,Beijing 100084,China [3]Department of Mechanical Engineering,University of California,Berkeley,CA 94720-1740 USA [4]IEEE

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第7期1218-1232,共15页自动化学报（英文版）

基　　金：This work was supported in part by the National Nature Science Foundation of China(51922059);in part by the Beijing Natural Science Foundation(JQ19010);in part by the China Postdoctoral Science Foundation(2021T140371).

摘　　要：With regard to precision/ultra-precision motion systems,it is important to achieve excellent tracking performance for various trajectory tracking tasks even under uncertain external disturbances.In this paper,to overcome the limitation of robustness to trajectory variations and external disturbances in offline feedforward compensation strategies such as iterative learning control(ILC),a novel real-time iterative compensation(RIC)control framework is proposed for precision motion systems without changing the inner closed-loop controller.Specifically,the RIC method can be divided into two parts,i.e.,accurate model prediction and real-time iterative compensation.An accurate prediction model considering lumped disturbances is firstly established to predict tracking errors at future sampling times.In light of predicted errors,a feedforward compensation term is developed to modify the following reference trajectory by real-time iterative calculation.Both the prediction and compen-sation processes are finished in a real-time motion control sampling period.The stability and convergence of the entire control system after real-time iterative compensation is analyzed for different conditions.Various simulation results consistently demonstrate that the proposed RIC framework possesses satisfactory dynamic regulation capability,which contributes to high tracking accuracy comparable to ILC or even better and strong robustness.

关 键 词：Precision motion control prediction model real-time iterative compensation trajectory tracking 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TH-39[自动化与计算机技术—控制科学与工程]