Title :
Self-tuning controller design for motion control systems
Author :
Yanan, Li ; Jiangang, Li ; Xuehui, Ye ; Zexiang, Li
Author_Institution :
Shenzhen Grad. Sch., Dept. of Control & Mechatron. Eng., Harbin Inst. of Technol., Shenzhen, China
Abstract :
In this paper, details of the modeling and identification for motion control systems are given. In particular, a mechanism is proposed to deal with the low-excitation problem in the closed-loop identification. A self-tuning feedback controller based on the pole placement and stable zero-pole cancelation is proposed. Besides, to improve the tracking performance, a self-tuning ZPETC is utilized as the feedforward. At last, all these algorithms are verified in a real milling machine. Experiments results indicate their efficiency.
Keywords :
adaptive control; closed loop systems; control system synthesis; feedback; milling machines; motion control; poles and zeros; self-adjusting systems; closed-loop identification; low-excitation problem; milling machine; motion control systems; pole placement; self-tuning controller design; self-tuning feedback controller; stable zero-pole cancelation; Adaptive control; Control systems; Design engineering; Error correction; Feedback; Motion control; Motion planning; Torque; Tracking; Velocity control;
Conference_Titel :
Information and Automation, 2009. ICIA '09. International Conference on
Conference_Location :
Zhuhai, Macau
Print_ISBN :
978-1-4244-3607-1
Electronic_ISBN :
978-1-4244-3608-8
DOI :
10.1109/ICINFA.2009.5204970
