Real-Time Compensation for Positioning Peformance Using On-Line Parameter Identification and Initial Value Compensation

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  • Hirose Noriaki
    Department of Computer Science and Engineering, Nagoya Institute of Technology
  • Terachi Yasuhisa
    Department of Computer Science and Engineering, Nagoya Institute of Technology
  • Kawafuku Motohiro
    Department of Computer Science and Engineering, Nagoya Institute of Technology
  • Iwasaki Makoto
    Department of Computer Science and Engineering, Nagoya Institute of Technology
  • Hirai Hiromu
    Department of Computer Science and Engineering, Nagoya Institute of Technology

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Other Title
  • オンライン定数同定と初期値補償を併用した位置決め整定特性のリアルタイム補償
  • オンライン テイスウ ドウテイ ト ショキチ ホショウ オ ヘイヨウシタ イチギメ セイテイ トクセイ ノ リアルタイム ホショウ

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Abstract

Variations and/or uncertainties in environments of mechatronic systems, e.g. electrical/mechanical parameter changes and nonlinear components, generally deteriorate the motion control performance. In the research, the fast and precise position settling performance for parameter variations in positioning devices can be improved by techniques of an on-line parameter identification and an initial value compensation. The proposed technique allows the positioning systems to be adaptive and robust for unknown parameter variations. The effectiveness of the approach has been verified by numerical simulations and experiments using a prototype.

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