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首页> 外文会议>33rd ASPE annual meeting 2018 >REFERENCE TRAJECTORY GENERATION OF DECOUPLABLE COARSE-FINE STAGE FOR POINT-TO-POINT POSITIONING APPLICATIONS
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REFERENCE TRAJECTORY GENERATION OF DECOUPLABLE COARSE-FINE STAGE FOR POINT-TO-POINT POSITIONING APPLICATIONS

机译：点对点定位应用中可消除的粗细阶段的参考轨迹生成

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摘要

Reference trajectory generation algorithm using finite impulse response (FIR) filter for de-couplable coarse-fine stage (DCFS) for point-to-point positioning (i.e., stepping) applications is presented. The presented FIR filter-based trajectory generation approach requires a limited preview of the fine stage's reference to determine the required coupling motion and enforce kinematic limits on the coarse stage's trajectory. The computational requirement for the FIR filter-based algorithm is low, such that the algorithm can be implemented inside a realtime controller, eliminating the need for offline B-spline-based optimization of prior work [1]. The experimental results with the DCFS show that significant reductions in residual vibration of isolated base, fine stage tracking error, and linear motor control effort are achieved simultaneously, if the stepping size is sufficiently large. For short distance stepping motions, it is more advantageous to have the stage decoupled throughout the trajectory as the residual vibration reduction benefit is marginal and tracking error and control effort can be overly sacrificed.
机译：提出了使用有限冲激响应（FIR）滤波器的可参考点轨迹生成算法，用于点对点定位（即步进）应用的可分离的粗精细级（DCFS）。提出的基于FIR滤波器的轨迹生成方法要求对精细平台的参考进行有限预览，以确定所需的耦合运动并在粗糙平台的轨迹上施加运动学极限。基于FIR滤波器的算法的计算要求较低，因此该算法可在实时控制器内实现，从而无需进行基于离线B样条的先验工作优化[1]。 DCFS的实验结果表明，如果步进大小足够大，则可以同时显着降低隔离基座的残余振动，精细的跟踪误差和线性电动机控制效果。对于短距离的步进运动，将平台在整个轨迹上解耦是更有利的，因为残余的减振优势是微不足道的，并且跟踪误差和控制工作可能会被过度牺牲。

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  • 来源
    《33rd ASPE annual meeting 2018》|2018年|442-447|共6页
  • 会议地点 Las Vegas(US)
  • 作者

    Deokkyun Yoon; Chinedum E. Okwudire;

  • 作者单位

    Department of Mechanical Engineering The University of Michigan Ann Arbor, Ml;

    Department of Mechanical Engineering The University of Michigan Ann Arbor, Ml;

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  • 原文格式 PDF
  • 正文语种 eng
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