Contour tracking control in position domain: principle, development, and application

位置域轮廓跟踪控制：原理、发展与应用

• 批准号: RGPIN-2016-04527
• 负责人: Ouyang, Puren
• 金额: $ 1.89万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=743247
• 关键词: Contour; tracking; control; position; domain

The high complexity, nonlinearity, and wide applications of robotic systems have led to extensive research in the field of robot control. Many control methods have been developed with the goal of achieving high contour tracking and reliable performances. In the applicant's recent research, the concept of position domain control was introduced in a simple form of PD/PID control laws for robotic systems to improve contour tracking performance as a superior alternative to time domain control. To build the position domain control system, a multi-axis robotic system is viewed as a masterslave motion system. The master motion is measured and used as a reference that will not produce any error to the final contour error, and the slave motions are described as functions of the master motion according to the contour trajectory requirements. Slave motion control is implemented in position domain based on the master motion. Theoretical research and systematic development of position domain control systems are necessary in order to promote the new position domain control and its applications in manufacturing industry. This research aims to develop position domain control theory, methods, and applications for contour tracking in manufacturing processes as an alternative that has superior performance than the time domain counterparts.The long-term goal of this research program is to make position domain control as a core control technology for contour tracking of robotic systems and to improve product quality in manufacturing processes. The research program aims at developing a general position domain control theory that can integrate the traditional time domain control theory, providing alternative but superior control systems for contour tracking applications, and exploring its applications for hybrid robotic systems. This research will develop the following enabling technologies to make position domain control a reality and potential applications in manufacturing processes: (1) Theoretical study of position domain control to build a united system architecture that can integrate position domain control and time domain control. (2) Development of advanced position domain control systems to expand the control methods developed in time domain to position domain. (3) Testing, verification, and application of the position domain control system in hybrid macro-micro motion systems and hybrid actuation systems.The applicant has a proven research record, a capable and motivated team to succeed in the proposed research program. This program will build an excellent environment for training 2 PhD students and 2 master's students to equip them with multi-disciplinary knowledge and cutting-edge research techniques. Results of this research can lead to the real application of contour tracking control for performance improvement, and advance the competitiveness of the manufacturing sector in Canada.

机器人系统的高复杂性，非线性和广泛的应用已导致在机器人控制领域进行广泛的研究。已经开发了许多控制方法，目的是实现高轮廓跟踪和可靠的性能。在申请人的最新研究中，对机器人系统的PD/PID控制定律的简单形式引入了位置域控制的概念，以改善轮廓跟踪性能，作为时代域控制的替代方法。为了构建位置域控制系统，多轴机器人系统被视为大师奴隶运动系统。测量主运动并将其用作参考，该参考不会对最终轮廓误差产生任何错误，并且根据轮廓轨迹要求将从动作描述为主运动的函数。从基于主运动在位置域中实现从运动控制。为了促进新的位置控制域及其在制造业中的应用，必须进行理论研究和系统开发。这项研究旨在开发位置域控制理论，方法和制造过程中轮廓跟踪的应用，作为一种替代方案，其性能优于时域。该研究计划的长期目标是使位置域控制作为对机器人系统的轮廓跟踪的核心控制技术，以便在制造过程中提高产品质量。该研究计划旨在开发一种通用域控制理论，该理论可以整合传统的时域控制理论，为轮廓跟踪应用提供替代但优越的控制系统，并探索其在混合机器人系统中的应用。这项研究将开发以下能力技术，以使位置域控制成为现实，并在制造过程中的潜在应用：（1）对位置域控制的理论研究，以构建可以集成位置域控制和时域控制的联合系统体系结构。 （2）开发高级位置域控制系统，以扩展在时域开发的控制方法到位置域。 （3）在混合宏观微运动系统和混合动力系统中，位置域控制系统的测试，验证和应用。申请人拥有良好的研究记录，这是一个有能力而有动力的团队，可以在拟议的研究计划中取得成功。该计划将为培训2名博士学位学生和2名硕士学生提供一个绝佳的环境，以使他们拥有多学科知识和尖端的研究技术。这项研究的结果可能会导致轮廓跟踪控制的真正应用以提高绩效，并提高加拿大制造业的竞争力。