Trajectory planning and feedforward design for electromechanical motion systems

Abstract

This report considers trajectory planning with given design constraints and design of an appropriate feedforward controller for single axis motion control. A motivation is given for using fourth order feedfonvard with fourth order trajectories. An algorithm is given for calculating hqjher order trajectories with bounds on all considered derivatives for point to point moves. It is shown that these trajectories are time-optimal in the most relevant cases. All required eqmtions for third and fourth order trajectory planning are explicitly derived. Implementation, discretization and quantization effects are considered. Simulation results show the effectiveness of fourth order feedfonvard in comparison with lower order feedforward.

Iterative motion feedforward tuning: A data-driven approach based on instrumental variable identification

“…The control configuration consists of a given stabilizing feedback controller C fb (q) and feedforward controller C ff (q). Let r denote a known nthÀorder multi-segment polynomial trajectory with constraints on the first n derivatives, generated by a trajectory planning algorithm that takes system dynamics into account, see, e.g., Biagiotti and Melchiorri (2012), Lee, Kim, and Choi (2013) and Lambrechts, Boerlage, and Steinbuch (2005). A typical reference r in a single task is depicted in Fig.…”

“…For motion systems with dominant rigid-body dynamics, a parametrization for C ff (q) is proposed in Lambrechts et al (2005) which compensates for the dominant component of the reference-induced error. The corresponding u ff is given by…”

“…In this section, a general polynomial feedforward parametrization is adopted that encompasses common parametrizations in feedforward control for motion systems, including Lambrechts et al (2005), Van der Meulen et al (2008), Heertjes et al (2010) and Boeren, Bruijnen et al (2014).…”

Emulator-based control for actuator-based hardware-in-the-loop testing

“…Typically the hardware components being tested are control systems and the method has particular applications in the automotive industry (Hong et al, 2002;Misselhorn et al, 2006;Rulka & Pankiewicz , 2005) and a range of other applications (de Carufel et al, 2000;Ferreira et al, 2004a,b;Ganguli et al, 2005;Jezernik , 2005;Lambrechts et al, 2005;Mansoor et al, 2003).…”

Using iterative learning control with basis functions to compensate medium deformation in a wide-format inkjet printer

“…Since W consists of differentiations of the reference, the parameters h j can be directly interpreted as the feed forward parameters compensating for effects related to: position, velocity, acceleration, jerk, and snap, see [20].…”