文献类型：会议论文

英文题名：Stable Inversion of Unstable Zeros for Iterative Learning Control and Application to CNC Machine Tool Precision Tracking Control

作者：Wang, Yulin[1]; Liu, Huanlao[1]; Liu, Can[1]; He, Taihua[1]

机构：[1] School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, China

会议论文集：2024 IEEE International Conference on Control Science and Systems Engineering, ICCSSE 2024

会议日期：October 18, 2024 - October 20, 2024

会议地点：Beijing, China

语种：英文

外文关键词：Inverse problems - Inverse transforms

外文摘要：Iterative Learning Control (ILC) is an excellent feedforward control method that can effectively suppress repetitive disturbances based on past error information. For motion platforms with good linearity, such as CNC machine tools, ILC design using inverse models remains the most effective. However, the presence of unstable zeros transforms the inverse model into an unstable pole, resulting in unbounded outputs. In discrete systems, unstable zeros primarily arise from: (1) non-collocated placement of actuators and sensors; (2) discretization using zero-order hold. Unstable zeros are common in motion control systems; therefore, this paper addresses these zeros using a time-domain noncausal stable inversion method to avoid phase and magnitude errors associated with conventional frequency-domain methods. Experiments conducted on a CNC machine tool motion stage with unstable zeros in X-axis demonstrate that the proposed method is effective for achieving precise motion control in CNC machine tools. ? 2024 IEEE.