Motion Simulation Table Control Using Improved ZPETC Approach

The conventional feed forward controller design method for motion simulation could cause the unstable tracking control because of the phase and gain error that affected by Non-minimum phase (NMP). Thus, improved zero phase error tracking controller (ZPETC) approach is introduced to overcome NMP zero problem. After introducing the basic components of the servo system, load model systems established for motor simulation of motion simulator table and proposes an improved ZPETC. Finally, the actual motion simulator turntable system is successfully applied the approximate ZPETC and improved ZPETC, and the test results were compared and analyzed. Based on the theoretical and simulation analysis, the actual motion simulator turntable successfully implemented. Improved approximation ZPETC broaden the bandwidth of the system and satisfy the required performance of the system. The simulation results of the proposed algorithm satisfy the overall tracking performance of the motion simulation turntable.

[1]  Yahaya Md Sam,et al.  Tracking control for electro-hydraulic actuator using ZPETC , 2011, 2011 IEEE Control and System Graduate Research Colloquium.

[2]  Mohinder S. Grewal,et al.  Global Navigation Satellite Systems, Inertial Navigation, and Integration , 2013 .

[3]  Mojtaba Ahmadi,et al.  Orientation control of Atlas: A novel motion simulation platform , 2012 .

[4]  A. Galip Ulsoy,et al.  Tracking Control of Linear Time-Invariant Nonminimum Phase Systems Using Filtered Basis Functions , 2017 .

[5]  Shankar P. Bhattacharyya,et al.  Controller design via Pade approximation can lead to instability , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[6]  Paul G. Savage,et al.  Blazing Gyros: The Evolution of Strapdown Inertial Navigation Technology for Aircraft , 2013 .

[7]  Ramli Adnan,et al.  Positioning and Tracking Control of an XY table , 2011, 2011 IEEE International Conference on Control System, Computing and Engineering.

[8]  Cao Jian,et al.  Design and Experiments of Model-free Compound Controller of Flight Simulator , 2009 .

[9]  Gautam Sarkar,et al.  Reference input tracking of inversion-based non-minimum phase system using adaptive two-degree-of-freedom control , 2016, 2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI).

[10]  M. Mustafa,et al.  Trajectory-adaptive digital tracking controllers for non-minimum phase systems without factorisation of zeros , 2002 .

[11]  Ramli Adnan,et al.  Real-time control of non-minimum phase electro-hydraulic system using trajectory-adaptive ZPETC , 2011, 2011 IEEE 7th International Colloquium on Signal Processing and its Applications.

[12]  Nooritawati Md Tahir,et al.  Trajectory zero phase error tracking control using comparing coefficients method , 2009, 2009 5th International Colloquium on Signal Processing & Its Applications.

[13]  Carlos Silvestre,et al.  Embedded UAV model and LASER aiding techniques for inertial navigation systems , 2010 .

[14]  Shifeng Zhang,et al.  Strapdown stellar-inertial guidance system for launch vehicle , 2014 .