Masters Theses

Author

Tong Mu

Abstract

"In the field of precision motion control, many industrial systems have flexible modes. This is especially true for very high performance nanopositioning systems where traditional bearing systems are replaced with flexible structures in order to eliminate sliding friction. The precision motion control is difficult in flexible systems because the rapid phase transition around the resonant frequency must be accurately modeled in order to actively control the resonant motion. In order to experimentally study the effectiveness of various control algorithms on flexible systems, a dual-flywheel flexible system is constructed. The mechatronics system design strategy is presented in this thesis. The control algorithms of interest for this study are Iterative Learning Control (ILC) algorithms, which are very high precision algorithms that learn from repetition of the desired trajectory.

One of the challenges in ILC design is the problem of large transient growth. Large transient growth occurs involves many iterations of very large growth of the error before finally converging to a stable control. In many cases the growth is too large to safely employ on physical systems. Recent work indicates that large phase error in system models, such as those that inaccurately model resonant dynamics, can be a significant driver for large transient growth. One new ILC algorithm that was developed for this purpose, but has never been applied in practice, is the Iteration-varying Filter ILC. This thesis presents experimental results from the application of Iteration-varying Filter ILC to the dual flywheel system. Design and tuning of the Iteration-varying Filter ILC are also presented"--Abstract, page iii.

Advisor(s)

Bristow, Douglas A.

Committee Member(s)

Landers, Robert G.
Stutts, Daniel S.

Department(s)

Mechanical and Aerospace Engineering

Degree Name

M.S. in Mechanical Engineering

Publisher

Missouri University of Science and Technology

Publication Date

2012

Pagination

ix, 74 pages

Note about bibliography

Includes bibliographical references (pages 71-73).

Rights

© 2012 Tong Mu, All rights reserved.

Document Type

Thesis - Restricted Access

File Type

text

Language

English

Library of Congress Subject Headings

Motion control devices -- Design
Mechatronics
Intelligent control systems
Iterative methods (Mathematics)

Thesis Number

T 10646

Print OCLC #

922579750

Electronic OCLC #

922579865

Link to Catalog Record

Electronic access to the full-text of this document is restricted to Missouri S&T users. Otherwise, request this publication directly from Missouri S&T Library or contact your local library.

http://laurel.lso.missouri.edu/record=b11034851~S5

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