A review of industrial tracking control algorithms

Yuan, Meng; Manzie, Chris; Good, M C; Shames, Iman; Gan, Lu; Keynejad, Farzad; Robinette, Troy

doi:10.1016/j.conengprac.2020.104536

Cited by 28 publications

(11 citation statements)

References 104 publications

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“…Conventionally, the point-to-point movement or sinusoidal reference are used for performance validation in motion control considering that most of the paths are consist of a straight line or a circle [7]. The tracking error is used as the performance metrics to evaluate the tracking accuracy [34,35].…”

Section: Tracking Results and Comparisonmentioning

confidence: 99%

“…For feed drives driven by the rotary PMSM and transmission mechanisms, the dynamics of the mechanical subsystem can be converted into a similar form as (7). Here, the derivation of the mechanical dynamics of a rotary motor with a rack and pinion is demonstrated.…”

Section: Modelling Of the Mechanical Subsystemmentioning

confidence: 99%

“…The detrimental effects such as nonlinearities, modelling uncertainty and unknown disturbance can deteriorate the tracking performance and/or lead to system instability [6]. Although the proportional-integralderivative (PID)-based cascaded control is still the most widely adopted control method in the industry, the increasing requirements on machining accuracy inspire the development of advanced control laws for industrial feed drives [7].…”

Section: Introductionmentioning

confidence: 99%

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Tracking Control of Single-Axis Feed Drives Based on ADRC and Feedback Linearisation

Yuan

2021

Electronics

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The accuracy of manufacturing highly characterises the performance of industrial motion control. However, detrimental effects such as nonlinear coupling, model uncertainty and unknown external disturbances severely affect trajectory tracking performance. In this paper, we proposed an ADRC and feedback linearisation-based control algorithm for the high-precision trajectory tracking of feed drives. The controller was rigorously designed to ensure the convergence of observer states and tracking error. The applicability of the proposed approach was successfully demonstrated via high-fidelity simulation, and the numerical results based on different tracking methods were compared.

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Section: Tracking Results and Comparisonmentioning

confidence: 99%

Section: Modelling Of the Mechanical Subsystemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Tracking Control of Single-Axis Feed Drives Based on ADRC and Feedback Linearisation

Yuan

2021

Electronics

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“…The coordinated motion of the two axes ensures the moving of the end-effector to the desired position in two-dimensional space [6]. Structures of machines were traditionally considered rigid at a time when structural components were heavy and accuracy was not highly regarded [7]- [9]. However, the flexible linkages in machines lead to position discrepancies between actuators and the end-effector due to their non-rigid characteristics, thus deteriorating the manufacturing performance [9].…”

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confidence: 99%

Modeling and Contouring Control for Cantilever Beam Machine With Structural Flexibility

Yuan

2022

IEEE Access

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In biaxial contouring control applications, the inherent structural flexibility of machines can lead to position discrepancies between the manipulator and actuator, and thus deteriorate the manufacturing performance, especially when the controller is designed without available end-effector side feedback. In this work, we focus on the end-effector contouring control problem for industrial machines with position-dependent flexibility to improve the contouring performance while eliminating the effect of mechanical vibration. A model for the widely used cantilever beam machine is developed to describe the dynamics of the end-effector by capturing the rotation and coupled dynamics between axes. The proposed model is validated through experiment and systematically reduced to switched linear time-invariant models for controller design. By adopting the extended state observer, the proposed control architecture decouples the dynamics between the X and Y-axis and simplifies the controller design process. The model predictive control method is utilised for improving the contouring performance while reducing mechanical vibration. The efficacy of the proposed control framework is demonstrated and validated on the designed high-fidelity model. Performance comparisons between the proposed approach with benchmark controllers are presented.INDEX TERMS Manufacturing, contouring control, motion control, vibration and noise control.

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“…On the other hand, an active strategy incorporates some extra elements in the control structure whose task is to estimate or observe the disturbance and, then, to feed-forward the necessary control action for cancelling the disturbance effect. The authors in [115] review different observers proposed over the years regarding its complexity, dynamical structure, information required and implementation, while in the recent work [171], the authors compare the observer based techniques among others. Active Disturbance Rejection Control (ADRC) has emerged as a popular technique since the end of the 90's decade as an alternative to feedback control [104,103,54].…”

Section: Introductionmentioning

confidence: 99%

Design of disturbance observers based on their implementability in industrial control systems

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A review of industrial tracking control algorithms

Cited by 28 publications

References 104 publications

Tracking Control of Single-Axis Feed Drives Based on ADRC and Feedback Linearisation

Tracking Control of Single-Axis Feed Drives Based on ADRC and Feedback Linearisation

Modeling and Contouring Control for Cantilever Beam Machine With Structural Flexibility

Design of disturbance observers based on their implementability in industrial control systems

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