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LPV interpolation modeling and modal-based pole placement control for ball screw drive with dynamic variations.
- Source :
- ISA Transactions; Sep2024, Vol. 152, p477-486, 10p
- Publication Year :
- 2024
-
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]
Details
- Language :
- English
- ISSN :
- 00190578
- Volume :
- 152
- Database :
- Supplemental Index
- Journal :
- ISA Transactions
- Publication Type :
- Academic Journal
- Accession number :
- 179260985
- Full Text :
- https://doi.org/10.1016/j.isatra.2024.07.009