Robust Repetitive Control and Its Application

Both OPRRC and TPRRC are successfully applied to an electrohydraulic actuator for non-circular machining of camshaft to show their effectiveness. A dual stage actuator using an electrohydraulic actuator and a piezoelectric actuator is developed to further reduce cam profile tracking errors. The design, modeling, analysis and preliminary control design of the dual stage actuator are presented. The experimental results are also presented to demonstrate the effectiveness of dual stage actuator. Finally, TPRRC is also applied to a disk drive read-write head following tracking servo control problem to reject both repeatable runout (RRO) and non-repeatable runout (NRRO) simultaneously. Simulation results show that the position error signal (PES) of a disk drive is reduced by three folds. The initial response of the TPRRC as well as most other repetitive control systems typically takes one period (of the periodic exogenous signal) to converge. A feedforward control is proposed and shown to increase the transient convergence rate for the TPRRC when switching from one data track to another.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2015

Author dc:creator

• Li, Jianwu

Contributors dc:contributor

• Tsao, Tsu-Chin

• Engineering, System Science

Language dc:language

eng

Identifier

(MiAaPQ)AAI9953079

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/83994