Modeling and Identification for Lightweight High-Speed Machines with Loads Variation

Abstract:

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The positioning performance of high-speed, high-accuracy light-weight motion control systems is usually restricted by the structure flexibility and model parameter-varying caused by load mass variation. It needs to develop novel motion control algorithm to eliminate the residual vibration in the end-effectors, as well as to be robust over the load mass variation. This paper addresses the first and crucial step of this problem, modeling and identification technique. The linear parameter-varying model of the system is constructed and analyzed. The parameters and affine function identification method based on nonlinear least-squares and principle component analysis technique is proposed. The validity of the proposed method is demonstrated through a lightweight machine experimental setup. It is general enough to be applicable to the dynamic behaviors analysis and gain-scheduling robust control design for industrial lightweight vibration suppression and motion control systems that possess flexible elements and variable loads.

Info:

Periodical:

Edited by:

Hun Guo, Taiyong Wang, Zeyu Weng, Weidong Jin, Shaoze Yan, Xuda Qin, Guofeng Wang, Qingjian Liu and Zijing Wang

Pages:

350-354

DOI:

10.4028/www.scientific.net/AMM.141.350

Citation:

S. X. Fan et al., "Modeling and Identification for Lightweight High-Speed Machines with Loads Variation", Applied Mechanics and Materials, Vol. 141, pp. 350-354, 2012

Online since:

November 2011

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Price:

$35.00

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