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Synchronisation of Multi-Axis Automation Processes Using Iterative Learning Control

Synchronisation of Multi-Axis Automation Processes Using Iterative Learning Control
Synchronisation of Multi-Axis Automation Processes Using Iterative Learning Control
It is often necessary to synchronise the actions of the various sub-systems involved in process applications. This is usually achieved through direct mechanical coupling, involving gears, drive belts and cams. Apart from the additional cost incurred, these components are subject to wear, constrain the layout of the plant, and may have limited accuracy. It is shown in this paper that a mechanical linkage between two sub-systems may be replaced by instead implementing a control scheme comprising an iterative learning controller together with a supervisory control loop. To illustrate the approach, two types of iterative learning controller are first implemented on a gantry robot test facility to confirm the high levels of tracking accuracy that may be achieved. The supervisory control loop is then added to synchronise the ‘pick and place’ action of the robot with a conveyor system moving at constant velocity. Experimental results confirm both the accurate tracking performance produced by the iterative learning controller, and the high level of synchronisation achieved by the overall scheme.
978-963-311-369-1
1529-1534
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Ratcliffe, James
84d4e3ea-1138-4622-a185-57aa153e53d8
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Ratcliffe, James
84d4e3ea-1138-4622-a185-57aa153e53d8

Freeman, Christopher, Lewin, Paul, Rogers, Eric and Ratcliffe, James (2009) Synchronisation of Multi-Axis Automation Processes Using Iterative Learning Control. European Control Conference 2009 - ECC’09, Hungary. 23 - 26 Aug 2009. pp. 1529-1534 .

Record type: Conference or Workshop Item (Paper)

Abstract

It is often necessary to synchronise the actions of the various sub-systems involved in process applications. This is usually achieved through direct mechanical coupling, involving gears, drive belts and cams. Apart from the additional cost incurred, these components are subject to wear, constrain the layout of the plant, and may have limited accuracy. It is shown in this paper that a mechanical linkage between two sub-systems may be replaced by instead implementing a control scheme comprising an iterative learning controller together with a supervisory control loop. To illustrate the approach, two types of iterative learning controller are first implemented on a gantry robot test facility to confirm the high levels of tracking accuracy that may be achieved. The supervisory control loop is then added to synchronise the ‘pick and place’ action of the robot with a conveyor system moving at constant velocity. Experimental results confirm both the accurate tracking performance produced by the iterative learning controller, and the high level of synchronisation achieved by the overall scheme.

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More information

Published date: 23 August 2009
Additional Information: Event Dates: 23-26 August, 2009
Venue - Dates: European Control Conference 2009 - ECC’09, Hungary, 2009-08-23 - 2009-08-26
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 266744
URI: https://eprints.soton.ac.uk/id/eprint/266744
ISBN: 978-963-311-369-1
PURE UUID: ba5de4c2-8bcf-41b1-8834-80755a686ab9
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

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Date deposited: 02 Oct 2008 15:43
Last modified: 14 Jun 2019 00:39

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