Self-tuning Controller Design for Motion Control Systems
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.
Li Yanan Li Jiangang Ye Xuehui Li Zexiang
Department of Control and Mechatronics Engineering,Harbin Institute of Technology Shenzhen Graduate Department of Control and Mechatronics Engineering,Harbin Institute of Technology Shenzhen Graduate
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
472-477
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）