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首页> 外文期刊>Mechatronics: The Science of Intelligent Machines >Experiment on trajectory tracking control of high precise positioning system based on iterative learning controller with wavelet filtering
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Experiment on trajectory tracking control of high precise positioning system based on iterative learning controller with wavelet filtering

机译：基于小波滤波迭代学习控制器的高精度定位系统轨迹跟踪控制实验

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摘要

For the objects with repeated motion characteristics such as Integrated Circuit(IC) packaging, Iterative Learning Control (ILC) offers a good scheme for achieving the control of high precise positioning and fast system response. However, in actual production, the performance is significantly deteriorated because of the unavoidable related disturbances when the learning data of a specific position are transferred to other positions, even in the same leading length motion condition. To improve the trajectory tracking performance of the same leading length operations in total workspace, this study proposes an iterative learning controller with wavelet filtering method to eliminate the dependence of iterative learning feed-forward on the special positions of different trajectory conditions. Through the wavelet analysis of the tracking errors with two different starting points, corresponding wavelet coefficients are obtained separately. Then by means of adjusting the wavelet coefficients, the non-consistent disturbance related to positions are removed, thus a universal feed-forward sequence unrelated to the special position is acquired which can be used for trajectory tracking of the same leading length operations in total workspace. Finally, the effectiveness of the proposed method has been demonstrated with the experimental results of a voice coil motor actuating positioning system. (C) 2015 Elsevier Ltd. All rights reserved.
机译：对于具有重复运动特性的对象，例如集成电路（IC）封装，迭代学习控制（ILC）提供了一种很好的方案，可以实现对高精度定位和快速系统响应的控制。但是，在实际生产中，即使在相同的前导长度运动条件下，当将特定位置的学习数据转移到其他位置时，由于不可避免的相关干扰，性能也会大大降低。为了提高在整个工作空间中相同前导长度操作的轨迹跟踪性能，本研究提出了一种基于小波滤波的迭代学习控制器，以消除迭代学习前馈对不同轨迹条件下特殊位置的依赖。通过对两个不同起点的跟踪误差进行小波分析，分别获得了相应的小波系数。然后通过调整小波系数，消除了与位置有关的不一致干扰，从而获得了与特殊位置无关的通用前馈序列，可用于在整个工作空间中对相同的前导长度操作进行轨迹跟踪。最后，通过音圈电机驱动定位系统的实验结果证明了该方法的有效性。 （C）2015 Elsevier Ltd.保留所有权利。

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