Model-based decoupling control method for dual-drive gantry stages : A case study with experimental validations
dc.contributor.author | GARCÍA-HERREROS, Iván |
dc.contributor.author | COLEMAN, Ralph |
dc.contributor.author | BARRE, Pierre-Jean |
dc.contributor.author
hal.structure.identifier | GOMAND, Julien
|
dc.contributor.author
hal.structure.identifier | KESTELYN, Xavier
|
dc.date.accessioned | 2013 |
dc.date.available | 2013 |
dc.date.issued | 2013 |
dc.date.submitted | 2013 |
dc.identifier.issn | 0967-0661 |
dc.identifier.uri | http://hdl.handle.net/10985/7016 |
dc.description | La version éditeur de cet article est disponible à l'adresse suivante : http://dx.doi.org/10.1016/j.conengprac.2012.10.010 |
dc.description.abstract | Industrial motion control of dual–drive gantry stages is usually performed by position controllers acting independently on each actuator. This approach neglects the unbalance and the mechanical coupling between actuators, leading to poor positioning performances. To overcome this drawback, a model–based decoupling control is proposed. Initially, a dynamic model of the gantry stage is proposed. Once identified and validated,such model is written in terms of a decoupling basis. Then, by model inversion, a feedback feedforward decoupling control is presented. Experimental results show that, in comparison to the independent axis control approach, the proposed solution leads to improved motion control. |
dc.description.sponsorship | This research project is funded and supported by ETEL SA. http://www.etel.ch and the CIFRE research grant No. 448/2008 of the French National Association of Research and Technology. |
dc.language.iso | en |
dc.publisher | Elsevier |
dc.rights | Post-print |
dc.subject | Model–based control |
dc.subject | Dynamic modeling |
dc.subject | Decoupled subsystems |
dc.subject | Dynamic decoupling |
dc.subject | Position control |
dc.subject | Dual–drive gantry industrial robots |
dc.subject | Independent Modal Space Control (IMSC) |
dc.title | Model-based decoupling control method for dual-drive gantry stages : A case study with experimental validations |
dc.identifier.doi | 10.1016/j.conengprac.2012.10.010 |
dc.typdoc | Article dans une revue avec comité de lecture |
dc.localisation | Centre de Aix en Provence |
dc.localisation | Centre de Lille |
dc.subject.hal | Sciences de l'ingénieur: Automatique / Robotique |
ensam.audience | Internationale |
ensam.page | Pages 298-307 |
ensam.journal | Control Engineering Practice |
ensam.volume | Volume 21 |
ensam.issue | Issue 3 |
hal.identifier | hal-01081415 |
hal.version | 1 |
hal.status | accept |