A novel constrained H 2 optimization algorithm for mechatronics design in flexure-linked biaxial gantry

Ma, Jun; Chen, Silu; Kamaldin, Nazir; Teo, Chek Sing; Tay, Arthur; Mamun, Abdullah Al; Tan, Kok Kiong

doi:10.1016/j.isatra.2017.08.001

Cited by 26 publications

(3 citation statements)

References 32 publications

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“…The nonlinear coupling characteristic is not considered. The same situation can also be found in Ma et al (2017) . Li et al (2011) proposed a synchronous control model of dual-driving system applied on the gantry-type machine tools with travelling bridge.…”

Section: Introductionsupporting

confidence: 69%

Lyapunov approach for motion synchronization of a two-slider system

Dou

2019

Transactions of the Institute of Measurement and Control

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This paper focuses on a novel boundary control design for motion synchronization of a two-slider system. In this system, two sliders are constrained by a flexible beam. The de-synchronization of two sliders will result in the interaction between them. The interaction force is considered as shear force in this paper. Based on the shear force coupling, the system models are derived. In order to obtain an accurate representation, the flexible beam is derived as a distributed parameter system with one partial differential equation. Based on the proposed models, a Lyapunov approach is used to design the boundary control laws for two sliders to realize the synchronization motion. Simulations are provided to illustrated that the proposed method can effectively improve the sync motion performance compared with the cross-coupling method.

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Section: Introductionsupporting

confidence: 69%

Lyapunov approach for motion synchronization of a two-slider system

Dou

2019

Transactions of the Institute of Measurement and Control

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“…H-type air floating motion platform can realize two degrees of freedom large stroke precise positioning motion and is widely applied in lithography silicon wafer stage, precision measuring equipment, and laser drilling equipment [ 1 , 2 , 3 ]. The platform is directly driven by the linear motor and supported and guided by the air floating guideway, which has the advantages of symmetrical structure and large overall stiffness.…”

Section: Introductionmentioning

confidence: 99%

Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform

Sun

Zeng

Luo

et al. 2021

Entropy

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H-type motion platform with linear motors is widely used in two-degrees-of-freedom motion systems, and one-direction dual motors need to be precisely controlled with strict synchronization for high precision performance. In this paper, a synchronous control method based on model decoupling is proposed. The dynamic model of an H-type air floating motion platform is established and one direction control using two motors with position dependency coupling is decoupled and converted into independent position and rotation controls, separately. For the low damping second-order oscillation system of the rotation control loop, a new fractional order biquad filtering method is proposed to generate an antiresonance peak to improve the phase and control gain of the open loop system, which can ensure system stability and quick attenuation for external disturbances. In the multiple-degree-of-freedom decoupled control loops, a systematic feedback controller design methodology is proposed to satisfy the given frequency domain design specifications; a feed-forward control strategy is also applied to compensate the disturbance torque caused by the platform motion. The simulation and experimental results demonstrate that the proposed synchronization control method is effective, and achieves better disturbance rejection performance than the existing optimal cancellation filtering method and biquad filtering method.

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“…In the more conventional configuration, the carriages and the cross-arm are linked by rigid joints, and this conventional design has demonstrated its effectiveness in minimizing various de-synchronization issues [2], [3]. However, in certain scenarios when the involved de-synchronization requirements substantially increases to a higher degree, the large inter-axis coupling forces may damage the joints [4]. To prevent this kind of unintended damage, alternative flexure-based mechanisms have been designed and extensively adopted instead in various appropriate classes of precision motion stages [5]- [8].…”

Section: Introductionmentioning

confidence: 99%

Global Iterative Sliding Mode Control of an Industrial Biaxial Gantry System for Contouring Motion Tasks

Wang,

Ma,

Cheng

et al. 2021

Preprint

Self Cite

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This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexurelinked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved multi-axis cooperation is one of the most challenging problems. As also would be inevitably encountered, various factors render the multi-axis cooperation rather difficult; such as the strong coupling (which naturally brings nonlinearity) between different axes due to its mechanical structure, the backlash and deadzone caused by the friction, and the difficulties in system identification, etc. To overcome the above-mentioned issues, this work investigates an intelligent model-free contouring control method for such a multiaxis motion stage. Essentially in the methodology developed here, it is firstly ensured that all the coupling, friction, nonlinearity, and disturbance (regarded as uncertain dynamics in each axis) are suitably posed as 'uncertainties'. Then, a varying-gain sliding mode control method is proposed to adaptively compensate for the matched unknown dynamics in the time domain, while an iterative learning law is applied to suppress the undesirable effects (arising from the repetitive matched and unmatched uncertainties in the iteration domain). With this approach, the chattering that typically results from the overestimated control gains in the sliding mode control is thus suppressed during the iterations. To analyze the contouring performance and show the improved outcomes, rigorous proof is furnished on both the stability in the time domain and the convergence in the iteration domain; and the real-time experiments also illustrate that the requirements of precision motion control towards highspeed and complex-curvature references can be satisfied using the proposed method, without prior knowledge of the boundary to the unknown dynamics.

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A novel constrained H 2 optimization algorithm for mechatronics design in flexure-linked biaxial gantry

Cited by 26 publications

References 32 publications

Lyapunov approach for motion synchronization of a two-slider system

Lyapunov approach for motion synchronization of a two-slider system

Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform

Global Iterative Sliding Mode Control of an Industrial Biaxial Gantry System for Contouring Motion Tasks

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