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Iterative Learning Control for Synchronisation of Multi-Axis Automation Processes

Iterative Learning Control for Synchronisation of Multi-Axis Automation Processes
Iterative Learning Control for Synchronisation of Multi-Axis Automation Processes
Synchronisation is often required to coordinate 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 provided by the iterative learning controller, and the high level of synchronisation achieved by the overall scheme.
309-314
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 (2008) Iterative Learning Control for Synchronisation of Multi-Axis Automation Processes. 23rd IAR Workshop on Advanced Control and Diagnosis, Coventry, United Kingdom. 27 - 28 Nov 2008. pp. 309-314 .

Record type: Conference or Workshop Item (Paper)

Abstract

Synchronisation is often required to coordinate 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 provided by the iterative learning controller, and the high level of synchronisation achieved by the overall scheme.

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More information

Published date: 27 November 2008
Additional Information: Event Dates: 27-28 November 2008
Venue - Dates: 23rd IAR Workshop on Advanced Control and Diagnosis, Coventry, United Kingdom, 2008-11-27 - 2008-11-28
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 266887
URI: http://eprints.soton.ac.uk/id/eprint/266887
PURE UUID: 4dae9a1f-d648-457f-a268-7698057cef45
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 07 Nov 2008 17:26
Last modified: 27 Jun 2020 00:24

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Contributors

Author: Christopher Freeman
Author: Paul Lewin
Author: Eric Rogers ORCID iD
Author: James Ratcliffe

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