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17th International Conference of the European Society for precision Engineering and Nanotechnology, EUSPEN 2017

作者： Ma, Jun Chen, Si-Lu Teo, Chek Sing Kong, Chun Jeng Tay, Arthur Lin, Wei Al Mamun, Abdullah SIMTech-NUS Joint Lab. on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore Agency for Science Technology and Research Singapore Institute of Manufacturing Technology Singapore138634 Singapore

ISBN: (纸本)9780995775107

Linear direct feed drive is an excellent choice to meet the requirement of high speed and ultra-high precision due to the simplicity of its mechanical structure. One major disadvantage is the jerk dependent reaction force on the secondary part of the linear motor. Jerk decoupling technique is a popular approach to decouple the reaction force from the machine frame. To systematically take care of both the tracking error and the jerk induced to the machine frame, this work takes an integrated approach to design the optimal JDC and the position controller of the feed drive. First, the mechatronics design problem is converted to a constrained H2 optimization problem. To efficiently solve it, we propose an algorithm based on direct computation of projected gradient matrix and linear searching of step size. From the simulation results, we can conclude optimal parameters obtained by the proposed algorithm efficiently decouple the jerk induced to the machine frame and achieve good tracking performance of the primary part.

关键词： Linear motors

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Finite element analysis validation of a novel experimental modal analysis method 15

Finite element analysis validation of a novel experimental m...

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15th International Conference of the European Society for precision Engineering and Nanotechnology, EUSPEN 2015

作者： Teo, Chek Sing Er, Poi Voon Tan, Kok Kiong SIMTech-NUS Joint Lab. on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Agency for Science Technology and Research Singapore Institute of Manufacturing Technology Singapore638075 Singapore

ISBN: (纸本)9780956679079

In this paper, we propose and validate an approach using Experimental Modal Analysis (EMA) based on Frequency Response Function (FRF) for machine vibration analysis. The EMA utilizes a set of accelerometers as vibration sensors to gather vibration measurements at selected locations on the machine, from which the relative sensitivities are computed to yield a sensitivity map. This sensitivity map is useful to examine the vibration behaviour of the mechanical structure and determine the final placement of monitoring sensors. The proposed approach is evaluated and benchmarked with Finite Element Analysis (FEA) model.

关键词： Finite element method

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An approach towards sensor selection and placement based on experimental modal analysis 15

An approach towards sensor selection and placement based on ...

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15th International Conference of the European Society for precision Engineering and Nanotechnology, EUSPEN 2015

作者： Er, Poi Voon Teo, Chek Sing Tan, Kok Kiong SIMTech-NUS Joint Lab. on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Agency for Science Technology and Research Singapore Institute of Manufacturing Technology Singapore638075 Singapore

ISBN: (纸本)9780956679079

Real-time continuous machine condition monitoring requires an accurate measurement of the vibration spectrum at a critical point. In some processes, such as milling, this point is the tool tip, but direct measurement here is normally not possible due to process requirements. We proposed an approach for sensor selection and placement at strategic locations to measure and infer the desired vibration conditions. The sensor placement locations are identified based on our proposed moderated sensitivity indicator. This indicator is quantified using each location's sensitivity as well as its measurement quality (Fisher Information). Upon selection, Radial Basis Functions (RBF) are trained to carry out the vibration spectrum inference process. Our preliminary trials indicate that we are able to achieve inference errors of 5.4%.

关键词： Location

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Performance-oriented data-driven controller tuning for smooth and precise tray indexing 19

Performance-oriented data-driven controller tuning for smoot...

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19th International Conference of the European Society for precision Engineering and Nanotechnology, EUSPEN 2019

作者： Li, Xiaocong Cheng, Zilong Ma, Jun Teo, Chek Sing Zhu, Haiyue Tan, Kok Kiong Mechatronics Group Singapore institute of Manufacturing Technology Singapore Singapore NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore SIMTech-NUS Joint Lab on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore

ISBN: (纸本)9780995775145

The feedback controller design and tuning play an important role in mechatronics and robotic systems for robust and high precision motion control. For instance, in a typical tray indexing application, when the controller is not appropriately tuned, large tracking error, dislodged chips and humming sound could occur. Traditional feedback controller design and tuning is based on system modelling, but it faces challenges when modelling is difficult or less accurate. Hence, in recent years, more and more data-driven approaches are developed, which utilize the actual motion data to optimize the controller parameters iteratively, without relying upon a detailed system model. Such control design is also performance-oriented as the design objective is directly taken into account during the optimization as the cost function. In our work, a data-driven tuning procedure for tray indexing applications is proposed. Different with existing data-driven approaches, the cost function of the proposed method takes into account both the tracking error and jerk minimization as it is particularly suitable for the tray indexing application. Subsequently, the gradient and Hessian matrix of the cost function is estimated solely based on the motion data collect from the encoder without any attempt to build a system model. At last, Gauss-Newton optimization algorithm is executed based on the estimated gradient and Hessian matrix in order to provide the next set of controller parameters to reduce the pre-defined cost function. The effectiveness of the proposed method is shown on an industrial tray indexing setup with significantly improved performance in terms of tracking and jerk reduction. © 2019 European Society for precision Engineering and Nanotechnology, Conference Proceedings - 19th International Conference and Exhibition, EUSPEN 2019. All rights reserved.

关键词： Cost functions

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A novel approach towards vibration suppression in linear direct feed drive 15

A novel approach towards vibration suppression in linear dir...

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15th International Conference of the European Society for precision Engineering and Nanotechnology, EUSPEN 2015

作者： Chen, Si-Lu Ma, Jun Lian, Xiao Teo, Chek Sing Lin, Wei Tay, Arthur Al Mamun, Abdullah SIMTech-NUS Joint Lab. on Precision Motion Systems Dept. of Electrical and Computer Engineering National University of Singapore Singapore117576 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore117576 Singapore Agency for Science Technology and Research Singapore Institute of Manufacturing Technology Singapore638075 Singapore Department of Mathmatics National University of Singapore Singapore119076 Singapore

ISBN: (纸本)9780956679079

Linear direct feed drives are widely used in high performance equipment and machine tools. However, the abrupt counter force to the machine frame from the secondary part of the linear motor induces possible residue vibration. The jerk decoupling cartridge (JDC) provides a buffer to reduce such an impact, but no existing JDC design considers the factors of closed-loop control together with mechanical parameters, as well as how to obtain optimal parameters under various mechanical and electrical design constraints. This paper presents a linear quadratic optimization approach to design the controller and the JDC. The problem is correctly formulated and the correctness of obtained optimal parameters is verified through a series of simulation.

关键词： Linear motors

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Optimal decentralized control approach toward integrated design of controller and jerk-decoupling cartridge

Optimal decentralized control approach toward integrated des...

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Annual Conference of Industrial Electronics Society

作者： Jun Ma Si-Lu Chen Chek Sing Teo Chun Jeng Kong Arthur Tay Wei Lin Abdullah Al Mamun Singapore Institute of Manufacturing Technology A*STAR Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore SIMTech-NUS Joint Lab on Precision Motion Systems National University of Singapore Singapore

Linear direct feed drives are widely used in machine tools, but an abrupt counter force from the secondary part will induce the jerk to the metro frame contacted with the linear motor and cause the vibration of auxiliary devices on it. The jerk-decoupling cartridge (JDC) provides a buffer to reduce such an impact. To systematically take care of both the tracking error and the jerk induced to the metro frame, this paper presents an integrated design approach to determine parameters in the JDC and the position controller of the feed drive. The initial formulated non-convex optimization problem is converted to convex constrained gradient optimization problem and linear step searching problem. Thus, fast convergence of parameters is achieved within first few iterations. Through a series of simulation, the effectiveness of proposed methodology is verified.

关键词： Feeds Force Cost function Drives Search problems Trajectory

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Outer-linearization-based optimization algorithm for decentralized control design in flexure-linked H-gantry

Outer-linearization-based optimization algorithm for decentr...

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2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018

作者： Ma, Jun Chen, Si-Lu Liang, Wenyu Li, Xiaocong Teo, Chek Sing Tay, Arthur Mamun, Abdullah Al Tan, Kok Kiong SIMTech-NUS Joint Lab. on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Department of Electrical and Computer Engineering National Universit of Singapore Singapore117583 Singapore Mechatronics Group Singapore Institute of Manufacturing Technology Singapore138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315121 China

ISBN: (纸本)9781538618547

The dual-drive H-gantry (DHG) is widely used for high-speed high-precision Cartesian motion control applications. Compared with the rigid-linked gantry design, the flexure-linked design is able to prevent the damage of the cross-arm because a small degree of rotation angle is allowed. Nevertheless, the flexure-linked design possibly induces the resonance of the gantry because of the chattering of control signals. To maintain the precision tracking of two carriages and minimize the chattering of control efforts, we aim to seek the most suitable flexure joints among the availab.e ones and optimize the decentralized feedback controller parameters under parametric uncertainties. The mechatronic design problem is formulated as an H2 guaranteed cost control problem. All the stabilizing feedback controller gains are parameterized over a convex set, from here, numerical procedures are developed to obtain the global optimum by means of an outer-linearization-based optimization algorithm. Experiments are carried out and the results successfully validate the optimality and the robustness of the proposed design approach. © 2018 IEEE.

关键词： Feedback control

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Generalized iterative super-twisting sliding mode control: A case study on flexure-joint Dual-Drive H-Gantry Stage

arXiv

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arXiv 2021年

作者： Wang, Wenxin Ma, Jun Cheng, Zilong Li, Xiaocong Mamun, Abdullah Al Lee, Tong Heng SIMTech-NUS Joint Lab on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore 117582 Singapore Department of Electrical and Computer Engineering National University of Singapore 117583 Singapore

Mechatronic systems are commonly used in the industry, where fast and accurate motion performance is always required to guarantee the manufacturing precision and efficiency. Nevertheless, the system model and parameters are difficult to be obtained accurately. Moreover, the high-order modes, strong coupling in multi-axis system, or unmodeled frictions will bring uncertain dynamics to the system. To overcome the above-mentioned issues and enhance the motion performance, this paper introduces a novel intelligent and totally model-free control method for mechatronic systems with unknown dynamics. In detail, a 2-degree-of-freedom (DOF) architecture is designed, which organically merges a generalized super-twisting algorithm with a unique iterative learning law. The controller solely utilizes the input-output data collected in iterations such that it works without any knowledge of the system parameters. The rigorous proof of convergence ability is given and a case study on flexture-joint dual-drive H-gantry stage is shown to validate the effectiveness of the proposed method. Copyright © 2021, The Authors. All rights reserved.

关键词： Sliding mode control

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Decentralized controller design in flexure-linked gantry by H2 guaranteed cost optimization approach 18

Decentralized controller design in flexure-linked gantry by ...

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18th International Conference of the European Society for precision Engineering and Nanotechnology, EUSPEN 2018

作者： Ma, Jun Chen, Si-Lu Liang, Wenyu Teo, Chek Sing Tay, Arthur Al Mamun, Abdullah Tan, Kok Kiong SIMTech-NUS Joint Lab. on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore Agency for Science Technology and Research Singapore Institute of Manufacturing Technology Singapore138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315201 China

ISBN: (纸本)9780995775121

Dual-drive H-gantry is widely used in many industrial processes that require high-speed and high-precision Cartesian motion. Unlike the rigid-linked gantry design, the flexure-linked design is able to prevent the damage of the cross-arm because a small degree of rotation angle is possible. However, the flexure-linked design may induce the resonant modes of the gantry because of high frequency control signals. To maintain the precision tracking of two carriages and minimize the chattering of control efforts, we aim to seek the most suitable flexure joints among the availab.e ones while optimizing the decentralized feedback controller parameters under model uncertainties. In this way, good tracking performance is achieved without costly system re-design. In this work, we formulate the mechatronic design problem as an H2 guaranteed cost control problem. All the stabilizing feedback controller gains are parameterized over a convex set, and the global optimum is obtained by means of an outer-linearization-based algorithm. Experiments are conducted and the results successfully validate the effectiveness of the proposed design approach. © 2018 CURRAN-CONFERENCE. All rights reserved.

关键词： Convex optimization Dual-drive H-gantry Flexure Mechatronic design Optimal control Parallel mechanism

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Iterative Super-Twisting Sliding Mode Control: A Case Study on Tray Indexing

Iterative Super-Twisting Sliding Mode Control: A Case Study ...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Wenxin Wang Jun Ma Xiaocong Li Haiyue Zhu Chek Sing Teo Tong Heng Lee SIMTech-NUS Joint Lab on Precision Motion Systems National University of Singapore Singapore Department of Mechanical Engineering University of California Berkeley CA USA Department of Electrical and Computer Engineering National University of Singapore Singapore

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

Continuous technological advancement in motion control enables the use of lightweight stages to achieve high precision with less development cost. However, these motion systems with higher flexible modes are rather difficult to identify accurately. Even though several methods have been addressed in the literature to approximate the model, the uncertainty and unmodeled terms will influence the performance inevitably with the use of model-based control methods. This paper presents a novel model-free control methodology to improve the position tracking performance of the lightweight motion systems and reduce the influence of uncertain flexible modes. A super-twisting sliding mode control approach is designed with an iterative learning law. A case study on the timing-belt tray indexing application is used for validation purposes. This proposed methodology is fully model-free without the need for any prior knowledge of the flexible motion systems. The potential of the proposed methodology can be further exploited and deployed in various motion control systems, especially those are difficult to obtain an accurate model.

关键词： Uncertainty Sliding mode control Tracking Robustness Electronic mail Convergence

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