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Polytopic LPV modeling and gain scheduling [formula omitted] control of ball screw with position- and load-dependent variable dynamics.
- Source :
-
Precision Engineering . May2024, Vol. 87, p1-10. 10p. - Publication Year :
- 2024
-
Abstract
- Ball screw drive (BSD) is a precision transmission mechanism widely used in high-precision positioning or tracking systems. The dynamic behavior of BSD varies with position and load, which causes tracking errors and poor robustness. Therefore, this paper proposes a polytopic linear parameter varying (LPV) model to express the varying dynamic behavior of BSD. The parameters of the LPV model are identified by the closed-loop frequency domain method and Levenberg–Marquardt iterative algorithm. Based on the polytopic LPV model, an LPV gain scheduling (GS) H ∞ controller is proposed for the BSD with varying dynamics. Specifically, the controller is designed through polytope-based GS representation and mixed sensitivity synthesis. The most significant part is the proposal of a GS H ∞ control algorithm to implement controller parameters that change with changing dynamics. Moreover, the stability of the closed-loop system is achieved by quadratic stabilization with state feedback. Finally, identification experiments and trajectory-tracking comparative experiments are carried out. The experimental results demonstrate that the proposed polytopic LPV modeling and GS H ∞ control synthesis are effective in achieving accurate trajectory tracking and excellent robustness. • A LPV model takes position and load as scheduling variables. • The affine parameters are identified by LM iterative algorithm. • A polytopic LPV gain scheduling H ∞ control strategy achieves good performance. [ABSTRACT FROM AUTHOR]
- Subjects :
- *STATE feedback (Feedback control systems)
*CLOSED loop systems
*SCHEDULING
*SCREWS
Subjects
Details
- Language :
- English
- ISSN :
- 01416359
- Volume :
- 87
- Database :
- Academic Search Index
- Journal :
- Precision Engineering
- Publication Type :
- Academic Journal
- Accession number :
- 177456297
- Full Text :
- https://doi.org/10.1016/j.precisioneng.2024.01.004