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Data-driven reference trajectory optimization for precision motion systems
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DOI：10.1016/j.conengprac.2023.105834.png)
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Abstract
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We propose a data -driven optimization -based pre -compensation method to improve the contour tracking performance of precision motion stages by modifying the reference trajectory and without modifying any built-in low-level controllers. The position of the precision motion stage is predicted with data -driven models, a linear low -fidelity model is used to optimize traversal time, by changing the path velocity and acceleration profiles then a non-linear high-fidelity model is used to refine the previously found time -optimal solution. We experimentally demonstrate that the proposed method is capable of simultaneously improving the productivity and accuracy of a high precision motion stage. Given the data -based nature of the models, the proposed method can easily be adapted to a wide family of precision motion systems.
Keywords:
Precision engineering
Motion control
Pre-compensation
Data-driven modeling
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