THESIS
2005
xii, 77 leaves : ill. ; 30 cm
Abstract
In industrial applications, many tasks are repetitive. Iterative learning controllers are effective for tracking control in these repetitive tasks. This thesis addresses the tracking control problem of low-bandwidth systems with the Fourier series based iterative Learning Control scheme (FLC). With the existence of flexible parts and slow response, the performance of a low-bandwidth system is usually unsatisfactory. The main objective of this study is to develop the FLC for applications in low-bandwidth systems....[
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In industrial applications, many tasks are repetitive. Iterative learning controllers are effective for tracking control in these repetitive tasks. This thesis addresses the tracking control problem of low-bandwidth systems with the Fourier series based iterative Learning Control scheme (FLC). With the existence of flexible parts and slow response, the performance of a low-bandwidth system is usually unsatisfactory. The main objective of this study is to develop the FLC for applications in low-bandwidth systems.
In this thesis, the FLC is developed with three improvements: (i) backlash compensation in the time domain parallel to the FLC; (ii) phase-shifting compensation; and (iii) auto-tuning learning gains. Backlash compensation is carried out in the time domain to reduce backlash effects in tracking control. To improve the performance while maintaining the stability with the FLC, phase-shifting should be compensated in the learning process. An algorithm for phase-shifting calculation and compensation is proposed. For a nonlinear system, it is difficult to find learning gains to meet the convergence condition. The auto-tuning gain method is proposed in this thesis to solve the problem in choosing learning gains. Experimental results show the efficiency of the improved FLC in application for a low-bandwidth belt-driven system.
To make full use of existing friction in mechanical systems, a newly designed asymmetrical trajectory is proposed. A method of using the FLC for system identification with eliminating quantization error in measurement is also proposed.
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