An Observer-Based Design for Cogging Forces Cancellation in Permanent Magnet Linear Motors

International audienceThis paper adresses the high precision positioning issue of permanent magnet (PM) linear motors, in presence of spatially periodic forces, also known as cogging. Using an internal model representation of this perturbation, an observer- based controller only relying on position measurements is derived. The observation error is not autonomous, and the stability analysis of the resulting closed loop system is regarded as the stability of two interconnected systems. For the motor to quickly track a desired trajectory, while being robust to large magnitude cogging forces, a small-gain like theorem is derived and used to tune the gains of the control law in an explicit way. The experimental results obtained through this method are then showed and compared with those of a PID controller

Velocity Dependence in the Cyclic Friction Arising with Gears

Recent research on friction in robot joints and transmission systems has considered meshing friction a position-dependent friction component. However, in this paper we show experimental evidence that meshing friction depends highly on joint speed.We identify the meshing friction in the gearboxes of a robotic leg, and we propose a new mathematical model that considers the rate dependency of meshing friction. The resulting model is validated through experimentation. Results show that meshing friction is responsible for friction torque oscillations with an amplitude up to 25 percent of the average friction torque at low speeds. Therefore, this friction component should be taken into account if an accurate friction model is desired.Peer reviewe

Nonlinear PI control of uncertain systems: an alternative to parameter adaptation

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Robust Adaptive Repetitive and Iterative Learning Control for Rotary Systems Subject to Spatially Periodic Uncertainties

This book chapter reviews and summarizes the recent progress in the design of spatial‐based robust adaptive repetitive and iterative learning control. In particular, the collection of methods aims at rotary systems that are subject to spatially periodic uncertainties and based on nonlinear control paradigm, e.g., adaptive feedback linearization and adaptive backstepping. We will elaborate on the design procedure (applicable to generic nth‐order systems) of each method and the corresponding stability and convergence theorems

Adaptive feedforward based control strategy for attenuation of periodic tension oscillations in roll-to-roll manufacturing

Considering the aforementioned issues, an adaptive feedforward (AFF) algorithm that can work in parallel to an existing feedback control systems is developed for control of web tension and to attenuate periodic oscillations. The essential ingredient of the AFF algorithm is the estimation of amplitude and phase of the periodic oscillations based on which a feedforward compensating control action is generated. The action of the AFF algorithm is such that retuning or redesign of the existing feedback controller is not required. Several different configurations of the AFF for different scenarios in terms of where to apply the feedforward action in the control system are investigated. Extensive experiments are conducted on a large web platform with different scenarios and by transporting two different web materials at various speeds. Results from these experiments are presented and discussed. Experimental results show the effectiveness of the proposed AFF algorithm to attenuate tension oscillations.Mechanical and Aerospace Engineerin

Robust Control

The need to be tolerant to changes in the control systems or in the operational environment of systems subject to unknown disturbances has generated new control methods that are able to deal with the non-parametrized disturbances of systems, without adapting itself to the system uncertainty but rather providing stability in the presence of errors bound in a model. With this approach in mind and with the intention to exemplify robust control applications, this book includes selected chapters that describe models of H-infinity loop, robust stability and uncertainty, among others. Each robust control method and model discussed in this book is illustrated by a relevant example that serves as an overview of the theoretical and practical method in robust control