Control Allocation for an Industrial High-Precision Transportation and Positioning System

R. Beerens; S.C.N. Thissen; W.C.M. Pancras; T.M.P. Gommans; N. van de Wouw; W.P.M.H. Heemels

doi:10.1109/TCST.2019.2956899

Control Allocation for an Industrial High-Precision Transportation and Positioning System

R. Beerens (Corresponding author), S.C.N. Thissen, W.C.M. Pancras, T.M.P. Gommans, N. van de Wouw, W.P.M.H. Heemels

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Abstract

We present a control allocation framework to improve the performance of an industrial high-precision translational transportation and positioning system based on an inverted permanent-magnet linear synchronous motor. Compared to the state-of-practice control solution, the proposed allocation technique achieves enhanced tracking performance and enlarged motion freedom, minimizes power consumption, and realizes relaxed hardware design specifications. A decentralized allocation algorithm is presented, which enhances the computational efficiency and facilitates the scalability to larger system configurations. The performance benefits of the proposed technique are illustrated by means of an experimental case study.

Original language	English
Article number	8947958
Pages (from-to)	876-883
Number of pages	8
Journal	IEEE Transactions on Control Systems Technology
Volume	29
Issue number	2
DOIs	https://doi.org/10.1109/TCST.2019.2956899
Publication status	Published - Mar 2021

Keywords

Actuators
Coils
Commutation
Control allocation
inverted permanent-magnet synchronous motor
motion control.
Resource management
Synchronous motors
Tracking
Transportation

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10.1109/TCST.2019.2956899

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abstract = "We present a control allocation framework to improve the performance of an industrial high-precision translational transportation and positioning system based on an inverted permanent-magnet linear synchronous motor. Compared to the state-of-practice control solution, the proposed allocation technique achieves enhanced tracking performance and enlarged motion freedom, minimizes power consumption, and realizes relaxed hardware design specifications. A decentralized allocation algorithm is presented, which enhances the computational efficiency and facilitates the scalability to larger system configurations. The performance benefits of the proposed technique are illustrated by means of an experimental case study.",

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AU - van de Wouw, N.

AU - Heemels, W.P.M.H.

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AB - We present a control allocation framework to improve the performance of an industrial high-precision translational transportation and positioning system based on an inverted permanent-magnet linear synchronous motor. Compared to the state-of-practice control solution, the proposed allocation technique achieves enhanced tracking performance and enlarged motion freedom, minimizes power consumption, and realizes relaxed hardware design specifications. A decentralized allocation algorithm is presented, which enhances the computational efficiency and facilitates the scalability to larger system configurations. The performance benefits of the proposed technique are illustrated by means of an experimental case study.

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KW - Control allocation

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Control Allocation for an Industrial High-Precision Transportation and Positioning System

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