High-precision tip positioning composite feedforward control of linear colocated motion systems with Bi-Loop iterative feedforward tuning

作     者：Junyu HU Yourui TAO Shanhu LI Xu HAN 

作者机构：College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China State Key Laboratory of Reliability and Intelligence of Electrical EquipmentHebei University of TechnologyTianjin 300130China 

出 版 物：《Science China(Technological Sciences)》 (中国科学(技术科学英文版))

年 卷 期：2025年第68卷第2期

页      面：153-166页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：supported by the National Natural Science Foundation Regional Innovation and Development Joint Fund Integrated Project(Grant No.U23A6017) the Central Guidance on Local Science and Technology Development Fund of Hebei Province(Grant No.226Z1805G) 

主　　题：composite feedforward(COMFF)control Bi-Loop iterative feedforward tuning(Bi-Loop IFFT) colocated motion systems nonlinear friction flexible load 

摘      要：To enhance the tip positioning accuracy and robustness against disturbances of linear colocated motion systems,a novel composite feedforward(COMFF)control with Bi-Loop iterative feedforward tuning(IFFT)is *** tip positioning error consists of the coupled tip residual vibration and linear motor tracking *** the influence of nonlinear friction and load flexibility,the topology of COMFF is designed as decoupled structures so that COMFF can suppress the tip residual vibration and compensate for the linear motor tracking error ***,Bi-Loop IFFT is built to improve the robustness of COMFF in high-precision motor tracking *** the state space of the linear motor tracking error based on the projection theorem,two loops are performed in parallel along the iteration *** is the P-type iteration loop that drives linear motor tracking errors to converge to the zero *** other is the observation loop constructed by the recursive least square with forgetting factors to accelerate the P-type iteration *** by the P-type iteration loop with the aid of the observation loop,the proposed COMFF is integrated with fast convergence and high robustness when confronted with model *** effectiveness of the proposed COMFF combined with Bi-Loop IFFT is validated by experiments.