4.7 Article

Variable-parameter-model-based iterative pre-compensation method of the tracking error

期刊

出版社

ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
DOI: 10.1016/j.ymssp.2021.107687

关键词

Data-driven; Pre-compensation; Tracking error; Moment-of-inertia; Servo systems

资金

  1. National Natural Science Foundation of China [51775215, 52090054]

向作者/读者索取更多资源

This paper presents a variable-parameter-model-based iterative pre-compensation method for tracking error, which can predict the optimal pre-compensation value when parameters of drive systems change. Experimental results demonstrate that this method can reduce tracking error and adapt to changes in moment-of-inertia.
The iterative pre-compensation method can predict the optimal pre-compensation value and compensate the tracking error effectively, but the compensation effect decreases if parameters of drive systems change. This paper proposes a variable-parameter-model based iterative pre-compensation method of the tracking error, which can predict the optimal pre-compensation value when parameters of drive systems change. The proposed iterative pre-compensation method of the tracking error can be used to compensate the tracking error of any trajectory by using the predicted pre-compensation value. There are three contributions in detail. Firstly, a variable-parameter-model-based iterative pre-compensation method of the tracking error is proposed based on the designed iterative pre-compensation (IPC) model. Secondly, the data-driven pre-compensation method is proposed to obtain the uncertain portion of the pre-compensation value and adapt to the change of the moment-of-inertia. Thirdly, the identification method of the moment-of-inertia is proposed and applied to the data-driven pre-compensation. In the end, experiments were conducted to verify the proposed iterative pre-compensation method and the experimental results show that the variable-parameter-model-based iterative pre-compensation method of the tracking error can reduce the tracking error and adapt to the change of the moment-of-inertia. (c) 2021 Elsevier Ltd. All rights reserved.

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