Advanced Motion Control: From Classical PID to Nonlinear Adaptive Robust Control
报告人:
姚斌
Dr. Yao received his PhD degree in Mechanical Engineering from the University of California at Berkeley in February 1996. He has been with the School of Mechanical Engineering at Purdue University since 1996 and was promoted to the rank of Professor in 2007.
报告时间:
2011-05-23 16:00
报告地点:
精仪系摩擦学会议室4501室
主办单位:
精仪系
简介:
The ever increasingly stringent performance requirements of modern mechanical systems have forced control engineers to look beyond traditional linear control theory for more advanced nonlinear controllers. During the past decade, a mathematically rigorous nonlinear adaptive robust control (ARC) theory has been developed and has been experimentally demonstrated achieving significant performance improvement in a number of motion control applications. This presentation uses a simple motion control problem as an example to bring out the conceptual connection and nonlinear extension of the widely used PID controller structure to the developed ARC approach. The presentation then highlights how major issues in the precision motion control can be handled systematically and effectively with the ARC framework. The issues considered include (i) large variations of physical parameters of a system; (ii) unknown nonlinearities such as cogging and ripple forces of linear motors; (iii) dynamic uncertain nonlinearities with non-uniformly detectable unmeasured internal states (e.g., friction described by dynamic models in high precision motion controls); and (iv) control input saturation due to limited capacity of physical actuators.
