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The quality of the micro-mechanical machining outcome depends significantly on the tracking performance of the miniaturized
linear motor drive precision stage. The tracking behavior of a direct drive design is prone to uncertainties such as model
parameter variations and disturbances. Robust optimal tracking controller design for this kind of precision stages with mass
and damping ratio uncertainties was researched. The mass and damping ratio uncertainties were modeled as the structured parametric
uncertainty model. An identification method for obtaining the parametric uncertainties was developed by using unbiased least
square technique. The instantaneous frequency bandwidth of the external disturbance signals was analyzed by using short time
Fourier transform technique. A two loop tracking control strategy that combines the μ-synthesis and the disturbance observer
(DOB) techniques was proposed. The μ-synthesis technique was used to design robust optimal controllers based on structured
uncertainty models. By complementing the μ controller, the DOB was applied to further improving the disturbance rejection
performance. To evaluate the positioning performance of the proposed control strategy, the comparative experiments were conducted
on a prototype micro milling machine among four control schemes: the proposed two-loop tracking control, the single loop μ
control, the PID control and the PID with DOB control. The disturbance rejection performances, the root mean square (RMS)
tracking errors and the performance robustness of different control schemes were studied. The results reveal that the proposed
control scheme has the best positioning performance. It reduces the maximal errors caused by disturbance forces such as friction
force by 60% and the RMS errors by 63.4% compared with the PID control. Compared to PID with DOB control, it reduces the RMS
errors by 29.6%. 相似文献
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本文从爱国主义教育、价值观建立、科学思维培养以及装备应用案例四个方面着手,探究"电工与电路基础"课程中的具有军校特色的思政元素.通过对该课程中思政元素的分析解读,使课堂教学内涵更加深入,注重学员价值观培养的同时,为向部队培养具备科学思维和创新能力的高素质军事人才做好准备. 相似文献
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As the sampling rates of the inner loop and the outer loop of the target tracking control system are different, a typical digital multi-rate control system was formed. If the traditional single-rate design method was applied, the low sampling rate loop will seriously impact the dynamical characteristic of the system. After analyzing and calculating the impact law of the low sampling rate loop to the bandwidth and the stability of the tracking system, a kind of multi-rate control system design method was introduced. Corresponding to the different sampling rates of the inner loop and the outer loop, the multi-rate control strategy was constituted by a high sampling rate sub-controller and a low sampling rate sub-controller. The two sub-controllers were designed separately and connected by means of the sampling rate converter. The low sampling rate controller determined the response rapidity of the system, while the high sampling rate controller applied additionally effective control outputs to the system during a sampling interval of the low sampling rate controller. With the introduced high and low sampling rates sub-controllers, the tracking control system can achieve the same performance as a single-rate controller with high sampling rate, yet it works under a much lower sampling rate. The simulation and experimental results show the effectiveness of the introduced multi-rate control design method. It reduces the settling time by 5 times and the over shoot by 4 times compared with the PID control. 相似文献