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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Dual-Stage Actuator Control Design Using a Doubly Coprime Factorization Approach
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Dual-Stage Actuator Control Design Using a Doubly Coprime Factorization Approach

机译：采用双互质分解法的双级执行器控制设计

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摘要

This paper first reveals that the tracking and disturbance rejection problems can be decoupled into two independent optimization problems under the 2-DOF control framework. This result is then used for the design of a 2-DOF controller for a dual-stage actuator (DSA) system to provide desired performance of disturbance rejection and step tracking. The 2-DOF controller is designed based on the doubly coprime factorization approach, with which the closed-loop transfer function is expressed explicitly in terms of design parameters. This greatly simplifies the optimization of design parameters in meeting desired specifications. We further study how to use the design parameters to deal with specific problems in the DSA, i.e., control allocation and trajectory planning. For step tracking beyond the secondary actuator range, a nonlinear controller is also used for the primary actuator to complete the task. Experimental results demonstrate the practical implementation of the DSA control system and verify its effectiveness for step tracking and disturbance rejection and its robust performance under load changes.
机译：本文首先揭示了在2-DOF控制框架下，跟踪和干扰抑制问题可以分解为两个独立的优化问题。然后将该结果用于双级执行器（DSA）系统的2-DOF控制器的设计，以提供所需的干扰抑制和步进跟踪性能。 2-DOF控制器是基于双重互质分解方法设计的，该方法的闭环传递函数根据设计参数明确表示。这大大简化了设计参数的优化以满足所需的规格。我们将进一步研究如何使用设计参数来处理DSA中的特定问题，即控制分配和轨迹规划。对于超出次级执行器范围的步进跟踪，主要执行器还使用非线性控制器来完成任务。实验结果证明了DSA控制系统的实际应用，并验证了其在步进跟踪和干扰抑制方面的有效性以及在负载变化下的鲁棒性能。

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