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A Two Parameter Robust Linear Parameter Varying Repetitive Control Approach to Variable Speed Electronic CAM Follower Problem

[+] Author Affiliations
Junqing Wang, T. C. Tsao

University of California at Los Angeles

Paper No. IMECE2005-82904, pp. 109-114; 6 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


Electronic cam follower motion control is a class of master-slave type mechanism where the slave axis motion must follow the master axis coordinate (process variable) according to a given cam profile while the master axis motion has a time varying speed. Time-domain repetitive control design can be well applied to the electronic cam slave control under constant nominal master’s axis speed. This approach won’t perform well when the master’s axis nominal speed varies, however. Recent research has suggested transforming the slave dynamics into the angle domain. By treating the rotational speed as a parameter which can be measured in real time, the resulting angle domain time varying plant is modeled as an affine linear parameter varying system. A continuous two parameter robust linear parameter varying repetitive controller with modified repetitive signal generator is proposed and compared with the time varying model reference approach. Simulation results show perfect asymptotic tracking performance with piecewise constant parameter profiles and graceful performance degradation with continuously varying parameter profiles.

Copyright © 2005 by ASME



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