1 research outputs found
Reference design for closed loop system optimization
An optimization-based method for improving the productivity of precision
machine tools is proposed, where the reference path is computed in local
coordinates, and information about the machine tool performance is learned from
experimental data. The optimization yields a modified reference that is tracked
by the existing low-level controller. The method is tested in simulation for a
biaxial positioning system. The positioning system is modelled as double
integrator, and the controller characteristic is modelled from experimental
data using a least-squares fit. Simulation results show that the method is
effective in designing optimal references even for challenging geometries such
as sharp corners. The application of this procedure allows the retrofit of the
control of existing machines with minimal overhead, by providing a modified
reference file to track.Comment: to be published in European Control Conference 2020 proceeding