Real-Time Compensation for Positioning Performance Using On-Line Parameter Identification and Initial Value Compensation

被引：1
作者：
Hirose, Noriaki [1 ]
Terachi, Yasuhisa [1 ]
Kawafuku, Motohiro [1 ]
Iwasaki, Makoto [1 ]
Hirai, Hiromu [1 ]
机构：
[1] Nagoya Inst Technol, Nagoya, Aichi, Japan
来源：
ELECTRICAL ENGINEERING IN JAPAN | 2010年 / 171卷 / 02期
关键词：
initial value compensation; least squares method; real-time compensation; fast-response and high-precision positioning;
D O I：
10.1002/eej.20926
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Variations and/or uncertainties in environments of mechatronic systems, such as electrical/mechanical parameter changes and nonlinear components, generally deteriorate the motion control performance. In our research, the fast and precise position settling performance for parameter variations in positioning devices can be improved by techniques of an on-line parameter identification and an initial value compensation. The proposed technique allows the positioning systems to be adaptive and robust for unknown parameter variations. The effectiveness of the approach has been verified by numerical simulations and experiments using a prototype. (C) 2010 Wiley Periodicals, Inc. Electr Eng Jpn, 171(2): 40-49, 2010; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20926
引用
收藏
页码：40 / 49
页数：10
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