Learning control and repetitive control of a high-speed, nonlinear cam follower system.

摘要

This research investigates two modern control approaches, learning and repetitive, for tracking the desired output displacement of a 3-degree of freedom (3-DOF) high-speed cam follower system. The main objective is to reduce the output tracking error, which is the difference between the actual and desired output displacements, of the output mass. The output tracking error in cam follower systems is mainly caused by errors in cam profile manufacturing, variation in the speed of the driving motor, and the dynamics of the cam follower system.; Learning control and repetitive control are applied in both theoretical simulations and experiments in order to reduce the output tracking error. A highly nonlinear, 3-degree of freedom cam follower system is used as a simulation model. The three degrees of freedom represent bending and twisting in the camshaft, and the vertical motion of the output mass.; In the experimental studies, a physical cam follower model is used to reduce the system tracking error using a control hardware and software package called dSPACE (Digital Signal Processing and Control Engineering). Theoretical and experimental results confirm that the tracking error is reduced by learning control and repetitive control methods.