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 language | Japanese |
|---|---|
| Pages (from-to) | 3749-3758 |
| Number of pages | 10 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 78 |
| Issue number | 795 |
| DOIs | |
| Publication status | Published - 2012 |
| Externally published | Yes |
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
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. / Nakamura, Yukinori; Morimoto, Kazuki; Wakui, Shinji.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 78, No. 795, 2012, p. 3749-3758.Research output: Contribution to journal › Article
}
TY - JOUR
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
UR - http://www.scopus.com/inward/record.url?scp=84872085542&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872085542&partnerID=8YFLogxK
U2 - 10.1299/kikaic.78.3749
DO - 10.1299/kikaic.78.3749
M3 - Article
AN - SCOPUS:84872085542
VL - 78
SP - 3749
EP - 3758
JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 795
ER -