Optimal LQ feedforward tracking with preview: Practical design for rigid body motion control

被引：11
|
作者：
Cole, Matthew O. T. [1 ]
Wongratanaphisan, Theeraphong [2 ]
机构：
[1] Univ Bath, Dept Mech Engn, Bath BA2 7AY, Avon, England
[2] Chiang Mai Univ, Dept Mech Engn, Chiang Mai 50200, Thailand
来源：
CONTROL ENGINEERING PRACTICE | 2014年 / 26卷
关键词：
Optimal control; Linear quadratic; Tracking control; Reference preview; Motion control; INVERSION;
D O I：
10.1016/j.conengprac.2013.12.007
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For reference-tracking motion control, preview-based linear quadratic (LQ) design methods provide an effective means to balance tracking performance with available actuation capacity. This paper considers a control structure for which the optimal feedforward controller is independent of the feedback controller. In this way, explicit implementation formulas for feedforward controllers are derived that can be applied to a range of rigid-body motion systems. Key aspects of the optimal LQ solutions are identified, particularly how the choice of design weightings affect steady-state error for polynomial tracking. A redesign procedure for finite preview-time is proposed that preserves exact polynomial tracking properties and control bandwidth of the optimal solutions. Comparative experimental results are presented for a motor-driven linear motion stage. (C) 2013 Elsevier Ltd. All rights reserved.
引用
收藏
页码：41 / 50
页数：10
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