LPV interpolation modeling and modal-based pole placement control for ball screw drive with dynamic variations.
ISA Trans
; 2024 Jul 09.
Article
in En
| MEDLINE
| ID: mdl-39019766
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.
Full text:
1
Collection:
01-internacional
Database:
MEDLINE
Language:
En
Journal:
ISA Trans
Year:
2024
Document type:
Article
Affiliation country:
China