Reference trajectory generation algorithm for a decouplable coarse-fine stage for rapid point-to-point positioning applications is investigated in this study. The investigated algorithm only needs limited preview of the fine stage's reference, thus rendering the implementation of the algorithm inside a real-time controller possible. Using the previewed fine stage's reference, the coarse stage's reference is generated with appropriately selected finite impulse response filters. Preliminary results show that the investigated approach can generate faster coupling motions than an offline B-Spline-based full-trajectory optimization approach developed in prior work. Experimental results demonstrate reductions in residual vibration, tracking error, and linear motor control effort for sufficiently large stepping sizes.
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机译：该研究研究了用于快速点对点定位应用的可解耦粗细阶段的参考轨迹生成算法。研究算法仅需要有限预览精细阶段的参考，从而使得在实时控制器内实现算法的实现。 Using the previewed fine stage's reference, the coarse stage's reference is generated with appropriately selected finite impulse response filters.初步结果表明，研究方法可以产生比在现有工作中开发的离线B样条的全轨道优化方法更快的耦合运动。实验结果表明，用于足够大的步进尺寸的剩余振动，跟踪误差和线性电机控制工作的减少。
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