Cross-coupled iterative learning control: A computationally efficient approach applied to an industrial flatbed printer

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2024-03-15 DOI:10.1016/j.mechatronics.2024.103170

Leontine Aarnoudse , Johan Kon , Koen Classens , Max van Meer , Maurice Poot , Paul Tacx , Nard Strijbosch , Tom Oomen

引用次数: 0

Abstract

Cross-coupled iterative learning control (ILC) can improve the contour tracking performance of manufacturing systems significantly. This paper aims to develop a framework for norm-optimal cross-coupled ILC that enables intuitive tuning of time- and iteration-varying weights of the exact contour error and its tangential counterpart. This leads to an iteration-varying ILC algorithm for which convergence conditions are developed. In addition, a resource-efficient implementation is developed that reduces the computational load significantly and enables the use of long reference signals. The approach is experimentally validated on an industrial flatbed printer.

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交叉耦合迭代学习控制：应用于工业平板打印机的高效计算方法

交叉耦合迭代学习控制（ILC）可显著提高制造系统的轮廓跟踪性能。本文旨在开发一种规范最优交叉耦合 ILC 框架，该框架可直观地调整精确轮廓误差及其切向对应误差的时间和迭代变化权重。这就产生了一种迭代变化的 ILC 算法，并为其制定了收敛条件。此外，还开发了一种资源节约型实现方法，可显著降低计算负荷，并可使用长参考信号。该方法在一台工业平板打印机上进行了实验验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.