Variable-parameter-model-based iterative pre-compensation method of the tracking error

• Published in: Mechanical systems and signal processing 2021-07, Vol.156, p.107687, Article 107687
• Main Authors: Zhang, Dailin, Chen, Huangchao, Wang, Zining, Zhao, Huan, Ding, Han
• Format: Article
• Language: English
• Subjects: Compensation; Data-driven; Error compensation; Error reduction; Identification methods; Inertia; Iterative methods; Mathematical models; Model testing; Moment-of-inertia; Parameters; Pre-compensation; Servo systems; System effectiveness; Tracking error; Tracking errors
• ISSN: 0888-3270; 1096-1216
• DOI: 10.1016/j.ymssp.2021.107687

•A variable-parameter-model-based iterative pre-compensation method of the tracking error is proposed to predict the optimal pre-compensation value when parameters of drive models change.•The data-driven pre-compensation method is proposed to obtain the uncertain portion of the pre-compensation value and adapt to the change of the moment-of-inertia.•The experimental results show that the variable-parameter-model-based iterative pre-compensation method of the tracking error can reduce the tracking error and adapt to the change of the moment-of-inertia. The iterative pre-compensation method can predict the optimal pre-compensation value and compensate the tracking error effectively, but the compensation effect decreases if parameters of drive systems change. This paper proposes a variable-parameter-model-based iterative pre-compensation method of the tracking error, which can predict the optimal pre-compensation value when parameters of drive systems change. The proposed iterative pre-compensation method of the tracking error can be used to compensate the tracking error of any trajectory by using the predicted pre-compensation value. There are three contributions in detail. Firstly, a variable-parameter-model-based iterative pre-compensation method of the tracking error is proposed based on the designed iterative pre-compensation (IPC) model. Secondly, the data-driven pre-compensation method is proposed to obtain the uncertain portion of the pre-compensation value and adapt to the change of the moment-of-inertia. Thirdly, the identification method of the moment-of-inertia is proposed and applied to the data-driven pre-compensation. In the end, experiments were conducted to verify the proposed iterative pre-compensation method and the experimental results show that the variable-parameter-model-based iterative pre-compensation method of the tracking error can reduce the tracking error and adapt to the change of the moment-of-inertia.