Freeman, Christopher, Lewin, Paul, Rogers, Eric and Ratcliffe, James
Iterative Learning Control for Synchronisation of Multi-Axis Automation Processes
At 23rd IAR Workshop on Advanced Control and Diagnosis, United Kingdom.
27 - 28 Nov 2008.
- Accepted Manuscript
Restricted to Registered users only
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.
Conference or Workshop Item
||Event Dates: 27-28 November 2008
|Venue - Dates:
||23rd IAR Workshop on Advanced Control and Diagnosis, United Kingdom, 2008-11-27 - 2008-11-28
||EEE, Southampton Wireless Group
|27 November 2008||Published|
||07 Nov 2008 17:26
||17 Apr 2017 18:57
|Further Information:||Google Scholar|
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