Analysis of Velocity Estimation Methods for High-Performance Motion Control Systems

Detta är en Master-uppsats från KTH/Reglerteknik

Författare: Ruth Aleksandrauskaite; [2018]

Nyckelord: ;

Sammanfattning: The majority of all commercial electronics hardware is manufactured usingSurface Mount Technology (SMT). Nevertheless, the increased complexityand miniaturization of electronics impose tough performance requirementson the automation process.The research in this paper concerns test and analysis of alternative velocityestimation methods for high-performance embedded motion control systems.The motion system in Mycronic’s pick and place machines is regulated by amotion controller consisting of a feedforward component and a feedback controller.The linear displacement is measured with an incremental encoder andthe velocity is estimated with a state observer. Previous work suggests thatthe velocity estimation is inadequate.Different observer designs including state and disturbance estimators weretested and evaluated through simulations in MATLAB SIMULINKr. Afterthat, experiments were performed on a conveyor retrieved from a pick andplace machine.The results show that a Kalman filter is the best state estimator. However,the method requires extensive tuning to attain good performance. The trackingperformance and robustness of the motion control system was highly improvedwhen using a Perturbation observer with Kalman filtering. Nonetheless,the settling time for point-to-point movements was somewhat shorterwhen using a Kalman filter alone.

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