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首页> 外文期刊>Mechanical systems and signal processing >Tracking control of a large range 3D printed compliant nano-manipulator with enhanced anti-windup compensation
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Tracking control of a large range 3D printed compliant nano-manipulator with enhanced anti-windup compensation

机译：具有增强的抗饱和补偿功能的大范围3D打印兼容纳米操纵器的跟踪控制

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摘要

This paper studies tracking of a large stroke 3D printed XY compliant nano-manipulator with spatial constraints. To asymptotically track periodic references, an internal model principle-based control is utilized as the baseline tracking controller. To avoid the actuator input saturation in relatively large stroke, an enhanced anti-windup scheme with an integrated compensation strategy is developed, where the anticipatory anti-windup compensator and the conventional one are adopted in different operation modes. The design of the modified anti-windup compensator is decoupled with the internal model principle-based controller to facilitate the integrated control design. The synthesis of linear matrix inequality (LMI) is also provided to obtain the parameters of the dynamic anti-windup compensator. The proposed control strategy is experimentally validated, where the tracking error is 62.54 nm (RMS) in absence of saturation and significant error reduction in the presence of saturation is demonstrated compared with the conventional anti-windup compensation. (C) 2019 Elsevier Ltd. All rights reserved.
机译：本文研究了具有空间约束的大行程3D打印XY兼容纳米操纵器的跟踪。为了渐进地跟踪周期参考，将基于内部模型原理的控制用作基线跟踪控制器。为了避免执行器输入在相对较大的冲程中达到饱和，开发了一种具有集成补偿策略的增强型防饱和方案，其中在不同的工作模式下采用了预期的防饱和补偿器和常规补偿器。修改后的抗饱和补偿器的设计与基于内部模型原理的控制器解耦，以简化集成控制设计。还提供了线性矩阵不等式（LMI）的综合，以获得动态抗饱和补偿器的参数。所提出的控制策略已通过实验验证，在不存在饱和的情况下跟踪误差为62.54 nm（RMS），与常规的抗饱和补偿相比，在存在饱和条件下的误差显着降低。 （C）2019 Elsevier Ltd.保留所有权利。

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  • 来源
    《Mechanical systems and signal processing》 |2019年第15期|33-48|共16页
  • 作者

    Cui Mengjia; Zhang Zhen; Yan Peng;

  • 作者单位

    Tsinghua Univ State Key Lab Tribol Dept Mech Engn Beijing 100084 Peoples R China|Tsinghua Univ Inst Mfg Engn Dept Mech Engn Beijing 100084 Peoples R China|Tsinghua Univ Beijing Key Lab Precis Ultraprecis Mfg Equipments Beijing 100084 Peoples R China;

    Shandong Univ Sch Mech Engn Key Lab High Efficiency & Clean Mech Mfg Minist Educ Jinan 250061 Shandong Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Nano-positioning; Tracking; Compliant mechanism; Anti-windup;

    机译：纳米定位;跟踪;顺应机制反清盘;

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