Dual Actuator System Iterative Reference Input Shaping Controller Design

• Main Authors: Chen-Wei Wu, 吳晨瑋
• Other Authors: Peter I-Tsyuen Chang
• Format: Others
• Language: en_US
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/84028101063495929172

碩士 === 國立臺灣科技大學 === 機械工程系 === 104 === This thesis outlines and demonstrates the efficacy in designing an iterative reference input shaping controller, applied to a class of Double-Input-Double-Output (DIDO) system, specifically aimed to provide long-stroke precision positioning for Dual Stage Actuator (DSA) systems. Due to the coupling effect from the interaction between the two actuators. This thesis first provides a full analysis to the characteristic of this class of DIDO system, Then secondly provide a relative distance limiting procedure that iteratively modifies the reference input provided to the DSA system. In order to individually design feedback controller for the two actuators in the DSA system, connection and mass difference for the two actuators needs to be characterized, where desired tracking performance in positioning through the individual channel feedback control design is first investigated without full consideration. Furthermore, due to the coupling (disturbance) input to the DSA actuation, this thesis researched a iterative input shaping method, in order to utilize the previously designed feedback controller, but also restrict the relative distance of the two actuators. This work demonstrates the feasibility in providing an automatic tuning algorithm, that will provide a reference input keeping the two actuators in range, focused on a low-stiffness connection.