フィードバック誤差学習を用いた位置決めステージに対するオートチューニングの改善

Yukinori Nakamura, Kazuki Morimoto, Shinji Wakui

Research output: Contribution to journalArticle

Abstract

This paper considers the automatic parameter tuning for the position control of the linear stage. To improve the performance of the positioning, feedback error learning (FEL), which reduces the output of the feedback controller for the learning, is utilized. Effects of the FEL's parameters (i.e., the reference, the gain of the feedback controller, the learning rate, and the parameter of the feedforward controller) are investigated by experiment. The large amplitude of the reference is effective in terms of the learning accuracy, and the large parameter of the feedforward controller is effective in terms of the learning time. The suitable learning rate and the feedback controller's gain are selected by considering the oscillation of estimated parameters. Furthermore, to shorten the learning time and improve the positioning performance, the termination test of the FEL is presented. In this method, the learning is automatically stopped based on the change of time integral of the estimated vector. Experimental results demonstrate the improvement of the parameter tuning.

Original languageJapanese
Pages (from-to)3749-3758
Number of pages10
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume78
Issue number795
DOIs
Publication statusPublished - 2012
Externally publishedYes

Keywords

  • Feedback error learning
  • Linear stage
  • Mechatronics
  • Positioning
  • Precision instrument

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Industrial and Manufacturing Engineering

Cite this

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title = "フィードバック誤差学習を用いた位置決めステージに対するオートチューニングの改善",
abstract = "This paper considers the automatic parameter tuning for the position control of the linear stage. To improve the performance of the positioning, feedback error learning (FEL), which reduces the output of the feedback controller for the learning, is utilized. Effects of the FEL's parameters (i.e., the reference, the gain of the feedback controller, the learning rate, and the parameter of the feedforward controller) are investigated by experiment. The large amplitude of the reference is effective in terms of the learning accuracy, and the large parameter of the feedforward controller is effective in terms of the learning time. The suitable learning rate and the feedback controller's gain are selected by considering the oscillation of estimated parameters. Furthermore, to shorten the learning time and improve the positioning performance, the termination test of the FEL is presented. In this method, the learning is automatically stopped based on the change of time integral of the estimated vector. Experimental results demonstrate the improvement of the parameter tuning.",
keywords = "Feedback error learning, Linear stage, Mechatronics, Positioning, Precision instrument",
author = "Yukinori Nakamura and Kazuki Morimoto and Shinji Wakui",
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T1 - フィードバック誤差学習を用いた位置決めステージに対するオートチューニングの改善

AU - Nakamura, Yukinori

AU - Morimoto, Kazuki

AU - Wakui, Shinji

PY - 2012

Y1 - 2012

N2 - This paper considers the automatic parameter tuning for the position control of the linear stage. To improve the performance of the positioning, feedback error learning (FEL), which reduces the output of the feedback controller for the learning, is utilized. Effects of the FEL's parameters (i.e., the reference, the gain of the feedback controller, the learning rate, and the parameter of the feedforward controller) are investigated by experiment. The large amplitude of the reference is effective in terms of the learning accuracy, and the large parameter of the feedforward controller is effective in terms of the learning time. The suitable learning rate and the feedback controller's gain are selected by considering the oscillation of estimated parameters. Furthermore, to shorten the learning time and improve the positioning performance, the termination test of the FEL is presented. In this method, the learning is automatically stopped based on the change of time integral of the estimated vector. Experimental results demonstrate the improvement of the parameter tuning.

AB - This paper considers the automatic parameter tuning for the position control of the linear stage. To improve the performance of the positioning, feedback error learning (FEL), which reduces the output of the feedback controller for the learning, is utilized. Effects of the FEL's parameters (i.e., the reference, the gain of the feedback controller, the learning rate, and the parameter of the feedforward controller) are investigated by experiment. The large amplitude of the reference is effective in terms of the learning accuracy, and the large parameter of the feedforward controller is effective in terms of the learning time. The suitable learning rate and the feedback controller's gain are selected by considering the oscillation of estimated parameters. Furthermore, to shorten the learning time and improve the positioning performance, the termination test of the FEL is presented. In this method, the learning is automatically stopped based on the change of time integral of the estimated vector. Experimental results demonstrate the improvement of the parameter tuning.

KW - Feedback error learning

KW - Linear stage

KW - Mechatronics

KW - Positioning

KW - Precision instrument

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