1. LPV interpolation modeling and modal-based pole placement control for ball screw drive with dynamic variations.
- Author
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Deng, Peng, Huang, Tao, Zhang, Weigui, Du, Shuangjiang, Xie, Zhijiang, and Wang, Dong
- Subjects
STATE feedback (Feedback control systems) ,POLE assignment ,CLOSED loop systems ,SIMILARITY transformations ,INTERPOLATION - Abstract
This paper presents a linear parameter varying (LPV) interpolation modeling method and modal-based pole placement (PP) control strategy for the ball screw drive (BSD) with varying dynamics. The BSD is modeled as a global LPV model with position-load dependence by selecting position and load as scheduling variables. The global LPV model is obtained from local subspace closed-loop identification and LPV interpolation modeling. A modal-based global LPV model is obtained through the similarity transformation. Based on this model, a modal-based LPV PP control strategy is proposed to achieve various modal control. Specifically, a state feedback control structure with an LPV state observer is designed to realize online state estimation and real-time state feedback control of modal state variables which cannot be measured directly. The steady-state error is minimized by introducing an error state space (SS) model with the integral effects. Moreover, the stability of the closed-loop system is analyzed according to the controllable decomposition and principle of separation. It is experimentally demonstrated that the proposed modal-based LPV PP control strategy can effectively achieve precise tracking and outstanding robustness meantime. • A global LPV model of the BSD is built by interpolation modeling. • A modal-based LPV pole placement control is proposed to achieve modal control. • The proposed modeling and control achieve precise tracking and excellent robustness. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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