Spatio-temporal modeling for overactuated motion control
Paul Tacx (Eindhoven University of Technology)
Matthijs van de Vosse (Eindhoven University of Technology)
Robbert Voorhoeve (TNO)
Gert Witvoet (TNO, Eindhoven University of Technology)
Marcel Heertjes (Eindhoven University of Technology, ASML)
Tom Oomen (Eindhoven University of Technology, TU Delft - Team Jan-Willem van Wingerden)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
Abstract
Increasingly stringent performance requirements for motion systems necessitate explicit control of the flexible dynamic behavior. The aim of this paper is to present an approach to identify spatio-temporal models of overactuated mechatronic systems with a limited number of spatially distributed sensors. The proposed approach exploits the modal modeling framework and exploits the symmetry in modal models to enhance the spatial resolution of the identified spatially-sampled modal models. Spatio-temporal models are identified by updating prior finite element method-based models based on the identified extended modal models. The experimental results illustrate the effectiveness of the proposed approach for the identification of complex position-dependent mechanical systems.
help_outline