LPV interpolation modeling and modal-based pole placement control for ball screw drive with dynamic variations

Area of Science:

• Control Engineering
• Mechanical Systems
• Robotics

Background:

• Ball screw drives (BSDs) exhibit complex dynamics that vary with operating conditions like position and load.
• Traditional control methods struggle to maintain performance under these varying dynamics.

Purpose of the Study:

• To develop a robust control strategy for BSDs with time-varying dynamics.
• To enhance tracking precision and system robustness in BSD applications.

Main Methods:

• Developed a linear parameter varying (LPV) interpolation modeling approach for BSDs.
• Utilized modal-based pole placement (PP) control for modal control.
• Implemented an LPV state observer for online state estimation and feedback control.
• Incorporated an error state space (SS) model to minimize steady-state errors.

Main Results:

• Successfully modeled the BSD as a global LPV model using position and load as scheduling variables.
• Achieved precise tracking and robust performance through the proposed modal-based LPV PP control strategy.
• Demonstrated effective online state estimation and real-time modal state feedback control.

Conclusions:

• The proposed modal-based LPV PP control strategy effectively addresses the challenges of varying dynamics in BSDs.
• The method offers a promising solution for achieving high-precision and robust control in BSD systems.
• Experimental validation confirms the strategy's capability for precise tracking and outstanding robustness.