Robust Adaptive Control of High Precision Mechatronic Systems

199 Pages·2017·6.59 MB·English

ROBUST ADAPTIVE CONTROL OF HIGH
PRECISION MECHATRONIC SYSTEMS
MOHAMMED NAZIR KAMALDIN
NATIONAL UNIVERSITY OF SINGAPORE
2018

ROBUST ADAPTIVE CONTROL OF HIGH
PRECISION MECHATRONIC SYSTEMS
MOHAMMED NAZIR KAMALDIN
A THESIS SUBMITTED
FOR THE DEGREE OF DOCTOR OF PHILOSOPHY
NUS GRADUATE SCHOOL FOR INTEGRATIVE
SCIENCES AND ENGINEERING
NATIONAL UNIVERSITY OF SINGAPORE
2018
Supervisor:
AssociateProfessorTanKokKiong
Examiners:
AssociateProfessorXiangCheng
AssociateProfessorOngSohKhim
ProfessorPeterXu,TheUniversityofAuckland

I would like to dedicate this thesis to my loving parents...
Declaration
I hereby declare that this thesis is my original work and it has been written by
me in its entirety. I have duly acknowledgedall the sources of information which
havebeenusedinthethesis.
Thisthesishasalsonotbeensubmittedforanydegreeinanyuniversityprevi-
ously.
MohammedNazirKamaldin
2January2018
IfIhaveseenfurtheritisbystandingontheshouldersofGiants
—SirIsaacNewton
Acknowledgements
Iwouldliketoexpressmysincere gratitudeto allthose whohelped andguided
me throughout my candidature. First and foremost, I would like to thank my
supervisor, Prof Tan Kok Kiong who has guided and supported me through
insightfulinstructionandprovidingthefreedomtoexploreacademically. Without
hisunendingsupport,mystudywouldnothavebeenpossible.
Nextbutnotleast,tomythesisadvisorycommitteewhosemembersconsist
ofDrs.ChenSiluandTeoChekSingandchairedbyProfLeeTongHeng. Iam
gratefultoProfLeeforhisexpertknowledgeandcandourinourmeetings. My
immensegratitudetomymentor,DrChen. Iappreciateyourenormouscontri-
butions towards my development. Your enthusiasm for research is contagious,
andyourperseverancein thefaceofadversityand uncertaintywill beenduring
lifelessons. AspecialthankstoDrTeowhohasprovidedmewithconstructive
commentsanddiscussions.
AspecialthankstotheSIMTech-NUSJointLabforprovidingstate-of-the-art
facilitiesandfundingtocarryoutmyresearch. MygratitudetoMrThomasThng
andMrKongChunJenginassistingwithmyvariousexperiments.
To my friends and colleagues of the Mechatronics Lab which has been my
secondhome, myappreciationforthejoyfulmemories. ToDrs.LiangWenyu,
ZhuHaiyue,ErPoiVoonandNguyenHoangTuanMinhmygratitudeforyourad-
i
viceandassistancethroughouttheyears. Myappreciationtomyfellowfriendsand
collaboratorswhohavebeenceaselessintheirenergyandcontribution,MrMaJun,
Mr Li Xiaocong, Mr Lau Jun Yik, Ms Ng Cailin, Ms Phua Wei Qi Nicole and
MrYapHongKai. AspecialmentiontoMrTanCheeSiongformakingthelaba
conduciveresearchenvironment.
IwouldliketoextendmygratitudetotheNUSGraduateSchoolforIntegrative
Science and Engineering (NGS) for generously supporting me throughout my
candidature. ToProfs.PhilipKeithMoore,TangBorLuenandDingJeakLing,
myappreciationforyourlecturesandlessonsthatprovideastrongfundamental
foundationforusjuniorresearchers. ThemanyopportunitiesbestowedbyNGS
havefosteredgrowthandmademeabetterscientist.
Idedicatethisthesistomyparents,MrKamaldinAhmadandMdmNorainiHas-
sanfortheirlove,careandencouragement. Withouttheirsupport,Iwouldnot
havesucceededthisfarinlife. Ashout-outtotheloveofmylife,MsShareenWan,
thankyouforbeingthereduringtheupsanddowns.
Thisworkhas beensupported bytheSIMTech-NUSJointLab onPrecision
MotionSystems(U12-R-024JL).
NazirKamaldin
January,2018
ii
Contents
Acknowledgments i
Summary vii
Acronyms xiv
1. Introduction 1
1.1. Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2. ResearchGapsandObjectives . . . . . . . . . . . . . . . . . . 4
1.3. Organisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2. Rotary Motion: Toward Comprehensive Modelling and Large-
AngleTrackingControlofaLimited-AngleTorqueActuatorwith
CylindricalHalbach 9
2.1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2. CylindricalHalbacharraybasedLATactuator . . . . . . . . . . 12
2.2.1. Actuatordesignandexperimentset-up . . . . . . . . . . 12
2.2.2. Advantage of the LAT motor with cylindrical Halbach
design . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.3. ModellingandIdentification . . . . . . . . . . . . . . . . . . . 14
2.3.1. PhysicalmodellingoftheLATactuator . . . . . . . . . 14
2.3.2. Parameteridentificationviarelay-feedback . . . . . . . 16
iii
Contents
2.3.3. Relayidentificationexperimentresults . . . . . . . . . . 19
2.4. Designofarobustoutput-feedbackcontrollerforprecisetracking 23
2.4.1. State-feedbackcontrollerdesign . . . . . . . . . . . . . 23
2.4.2. Propositionfortheuseofnonlinearhigh-gainobserver
withthestate-feedbackrobustcontroller . . . . . . . . . 25
2.4.3. Experimentvalidation . . . . . . . . . . . . . . . . . . 28
2.5. Design of a composite output feedback controller for precise
tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.5.1. State-feedbackcompositecontrollerdesign . . . . . . . 36
2.5.2. Experimentalvalidation . . . . . . . . . . . . . . . . . 40
2.6. Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3. Planar Motion: A Novel Jerk-limited Robust Adaptive Control
AppliedtoaFlexure-jointDual-driveGantry 47
3.1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.2. Modellingoftheflexure-joint-equippedDHG . . . . . . . . . . 51
3.3. DesignofacontinuousadaptiveRISEcontrollerforprecisetracking 58
3.3.1. Filterederror . . . . . . . . . . . . . . . . . . . . . . . 59
3.3.2. 2-DOFstructure . . . . . . . . . . . . . . . . . . . . . 60
3.3.3. Adaptivemodel-basedcompensation . . . . . . . . . . 61
3.3.4. Jerk-limited,adaptiveRISE . . . . . . . . . . . . . . . 62
3.4. RISEcontroller1&thecontemporarygainupdatelaw . . . . . 63
3.5. RISEcontroller2&thenovelgainupdatelaw . . . . . . . . . . 64
3.6. Closed-loopstability . . . . . . . . . . . . . . . . . . . . . . . 66
3.7. RISEcontroller1:
Anexperimentontheeffectofavariablerobustgain . . . . . . 67
iv