title: Interpolating gain-scheduled H∞ loop shaping design for high speed ball screw feed drives.
abstract: This paper presents a method to design servo controllers for flexible ball screw drives with time-varying dynamics, which are mainly due to the time-varying table position and the workpiece mass. A gain-scheduled H∞ loop shaping controller is designed to achieve high tracking performance against the dynamic variations. H∞ loop shaping design procedure incorporates open loop shaping by a set of compensators to obtain performance/robust stability tradeoffs. The interpolating gain-scheduled controller is obtained by interpolating the state space model of the linear time-invariant (LTI) controllers estimated for fixed values of the scheduling parameters and a linear least squares problem can be solved. The proposed controller has been compared with P/PI with velocity and acceleration feedforward and adaptive backstepping sliding mode control experimentally. The experimental results indicate that the tracking performance has been improved and the robustness for time-varying dynamics has been achieved with the proposed scheme.
authors.affiliation: School of Mechanical Engineering, Southeast University, Nanjing, Jiangsu, China. Electronic address: DL_seu@163.com.
authors.forename: Liang
authors.initials: L
authors.lastname: Dong
authors.affiliation: School of Mechanical Engineering, Southeast University, Nanjing, Jiangsu, China.
authors.forename: WenCheng
authors.initials: W
authors.lastname: Tang
authors.affiliation: School of Mechanical Engineering, Southeast University, Nanjing, Jiangsu, China.
authors.forename: DaFei
authors.initials: D
authors.lastname: Bao
keywords: Ball screw drive; Gain-scheduled control; H∞ loop shaping control; State space model interpolation; Time-varying parameters