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Adaptive Feedforward and Anti-windup Compensation for Amplitude and Rate Saturation with Application to Precision Control.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Adaptive Feedforward and Anti-windup Compensation for Amplitude and Rate Saturation with Application to Precision Control./
Author:	Zhou, Shiying.
Description:	1 online resource (110 pages)
Notes:	Source: Dissertation Abstracts International, Volume: 78-11(E), Section: B.
Contained By:	Dissertation Abstracts International78-11B(E).
Subject:	Mechanical engineering. -
Online resource:	click for full text (PQDT)
ISBN:	9780355033410

Adaptive Feedforward and Anti-windup Compensation for Amplitude and Rate Saturation with Application to Precision Control.
Zhou, Shiying.

Adaptive Feedforward and Anti-windup Compensation for Amplitude and Rate Saturation with Application to Precision Control. - 1 online resource (110 pages)

Source: Dissertation Abstracts International, Volume: 78-11(E), Section: B.

Thesis (Ph.D.)

Includes bibliographical references

Precision motion systems have stringent error tolerance and are subject to different sources of disturbances. These disturbances can be periodic or non-periodic, wide band or narrow band and concentrate at different frequency ranges. Moreover, actuators are subject to saturation problems, which can lead to degraded servo performance and even instability when the controllers are commanding over the physical limits of the actuators. In order to investigate the precision motion control strategies for disturbance rejection as well as saturation compensation, we study the vibration control and anti-windup compensation for the amplitude and rate saturations for the hard disk drive servo system, especially for the dual-stage system.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9780355033410Subjects--Topical Terms:

557493
Mechanical engineering.
Index Terms--Genre/Form:

554714
Electronic books.

Adaptive Feedforward and Anti-windup Compensation for Amplitude and Rate Saturation with Application to Precision Control.
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245 1 0 $a Adaptive Feedforward and Anti-windup Compensation for Amplitude and Rate Saturation with Application to Precision Control.
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500 $a Source: Dissertation Abstracts International, Volume: 78-11(E), Section: B.
500 $a Adviser: Masayoshi Tomizuka.
502 $a Thesis (Ph.D.) $c University of California, Berkeley $d 2017.
504 $a Includes bibliographical references
520 $a Precision motion systems have stringent error tolerance and are subject to different sources of disturbances. These disturbances can be periodic or non-periodic, wide band or narrow band and concentrate at different frequency ranges. Moreover, actuators are subject to saturation problems, which can lead to degraded servo performance and even instability when the controllers are commanding over the physical limits of the actuators. In order to investigate the precision motion control strategies for disturbance rejection as well as saturation compensation, we study the vibration control and anti-windup compensation for the amplitude and rate saturations for the hard disk drive servo system, especially for the dual-stage system.
520 $a The decoupled sensitivity design is presented to separate the dual-stage system into two single-input-single-output systems. Then the baseline controllers are designed using the Linear Quadratic Gaussian/ Loop Transfer Recovery to shape the overall sensitivity function. First, in order to reject periodic disturbances, two repetitive disturbance observers (RDOBs) are added. The additional RDOBs are proven to be add-on components to the overall sensitivity, thus extending repetitive narrow notches at the harmonic frequencies. As a result, the stability of the system is not influenced. And the two actuators are limited to operate at different frequencies for repetitive disturbance rejection.
520 $a Second, the adaptive feed-forward control is designed to reject the low frequency wide-band vibrations. Two structures are proposed, in which pre-identification of either the plant model or the sensitivity model is performed. The in?nite impulse response (IIR) filter is adapted, which is different from the conventional method using a finite impulse response filter. Besides, the error convergence is proven rigorously with assumptions. Therefore, the adaptive feed-forward control can approximate more complex unknown vibration transfer dynamics.
520 $a Third, the saturation problem of the secondary actuator in the dual-stage hard disk drive system is discussed. To address this, the linear conditioning structure is exploited. The anti-windup controllers for the amplitude saturation are synthesized by formulating linear matrix inequality (LMI) optimizations. Robustness of the system is also analyzed. We combine the existing theorems and mathematical tools such as integral quadratic constraints, Schur complement, S-procedure, etc. and present procedural steps to formulate the LMI optimization problem for control synthesis. It is different from the method that utilizing the Lyapunov theory, thus does not involve the difficulty to come up with a feasible Lyapunov function.
520 $a Finally, both amplitude and rate saturations are considered together. A generalized anti-windup controller is synthesized by formulating the saturation problem into a robust control problem. With additional loop transformation, the anti-windup controller is synthesized by mu-synthesis. This technique is less conservative and generalizable to systems with multiple different saturations. Note that, all the proposed techniques are add-on controls, which means the original baseline controls remain unmodified. This brings flexibility into design and implementation.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Mechanical engineering. $3 557493
655 7 $a Electronic books. $2 local $3 554714
690 $a 0548
710 2 $a ProQuest Information and Learning Co. $3 1178819
710 2 $a University of California, Berkeley. $b Mechanical Engineering. $3 845449
773 0 $t Dissertation Abstracts International $g 78-11B(E).
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10281027 $z click for full text (PQDT)