Abstract
The linear motor tool feed system is an important part in noncircular turning. In this paper, the compact form dynamic linearization based model-free adaptive iterative control scheme (CFDL-MFAILC) and the full form dynamic linearization based model-free adaptive iterative control method scheme (FFDL-MFAILC) are designed for a complex nonlinear tool feed system. Theoretical analysis shows that the proposed scheme guarantees the output tracking error monotonic convergence along the iteration axis, and the FFDL-MFAILC is a complement and improvement to the CFDL-MFAILC. The designed control schemes are compared with PID and iterative learning feedforward and model-free adaptive predictive control feedback combination scheme (ILC-MFAPC) by simulations and experiments. Simulation results show that the proposed scheme can greatly decrease linear motor position error as iteration time increase, and has better position control advantages then other algorithms, the FFDL-MFAILC has faster convergence speed and smaller steady-state error than the CFDL-MFAILC. Experiment results prove that the proposed scheme is effective in linear motor tool feed system position control.
Highlights
Non-circular section parts are widely used in automobile, biology, medicine, aviation, aerospace and other mechanical equipment
By exploring the similarities between model-free adaptive control (MFAC) and iterative learning control (ILC), the compact form dynamic linearization based model-free adaptive iterative control scheme (CFDL-MFAILC) [14] and the full form dynamic linearization based model-free adaptive iterative control method scheme (FFDL-MFAILC) are designed and analyzed for the linear feed system in non-circular turning based on an optimal cost function
Considering the complex dynamics of linear feed system in non-circular turning, we propose a model free adaptive iterative learning control based on full form dynamic linearization (FFDL-MFAILC), which fully considers all the influences on the system output increment at time instant imposed by both the control input increments and the system output increments within input-related/output-related fixed length moving time windows at current time instant, respectively
Summary
Non-circular section parts are widely used in automobile, biology, medicine, aviation, aerospace and other mechanical equipment. The compact form dynamic linearization based model-free adaptive iterative control scheme (CFDL-MFAILC) [14] and the full form dynamic linearization based model-free adaptive iterative control method scheme (FFDL-MFAILC) are designed in this paper. This schemes can modify the current control input by using input and output data of past operation and the data of. By exploring the similarities between MFAC and ILC, the compact form dynamic linearization based model-free adaptive iterative control scheme (CFDL-MFAILC) [14] and the full form dynamic linearization based model-free adaptive iterative control method scheme (FFDL-MFAILC) are designed and analyzed for the linear feed system in non-circular turning based on an optimal cost function. Theoretical analysis, numerical simulation and physical experiment show that the tracking error of the MFAILC system converges monotonically to zero along the iteration axis the initial errors are randomly varying with iterations
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