A two-axis high-performance positioning system is analyzed and controlled. Firstly, the control system was extended from one to two-axis movements. The control algorithm for each axis is based on a PID feedback controller and a force feed-forward controller. Two cross-coupling interactions arise between the axes. They are analyzed and compensated. Finally, when periodic reference signals are used, performances are improved using repetitive control (RPC) and iterative learning control (ILC).
High-Performance Multi-Axis Control with Applications in Compliant Parallel Manipulators
Petri, Elena
2020/2021
Abstract
A two-axis high-performance positioning system is analyzed and controlled. Firstly, the control system was extended from one to two-axis movements. The control algorithm for each axis is based on a PID feedback controller and a force feed-forward controller. Two cross-coupling interactions arise between the axes. They are analyzed and compensated. Finally, when periodic reference signals are used, performances are improved using repetitive control (RPC) and iterative learning control (ILC).File in questo prodotto:
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Utilizza questo identificativo per citare o creare un link a questo documento:
https://hdl.handle.net/20.500.12608/21227