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D. Wertjanz, E. Csencsics, G. Schitter:
"An efficient control transition scheme between stabilization and tracking task of a MAGLEV platform enabling active vibration compensation";
Vortrag: 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, USA; 06.07.2020 - 09.07.2020; in: "2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)", (2020), 6 S.

This paper proposes an efficient handing over from the internal stabilization to the external tracking control of a magnetically levitated platform, enabling precise robot-based measurements of free form surfaces. The platform prototype comprises two different sensor systems. The internal sensor system is used to stabilize the platform in a free-floating position with respect to the supporting frame (internal position control), while the external one enables the active compensation of disturbing vibrations by tracking a sample surface (external position control). Based on a cross-fading error gain, the control structure for each out-of-plane DoF comprises a single PID position controller for both control tasks of the platform. Measurement results demonstrate the platform´s capability of performing a simultaneous control transition in the out-of-plane DoFs, while it is stabilized in-plane. Different transition functions are applied to the cross-fading error gain. The findings show that a minimum jerk trajectory performs best regarding transition time and cross-coupling. Using this minimum jerk transition, the translational and rotational positioning errors in the three stabilizing in-plane DoFs are kept below 137nmrms and 2.05 μrad rms, respectively.

Position control , Position measurement , Robot sensing systems , IP networks , Vibration measurement , Tools

http://dx.doi.org/10.1109/AIM43001.2020.9158924

https://publik.tuwien.ac.at/files/publik_291028.pdf