Advanced Feedforward Control - Mechatronics Academy

Advanced Feedforward Control TOPICS • Feed-forward design for high-precision motion systems: velocity, acceleration, jerk, snap feedforward • Iterative learning control (ILC): basics, frequency domain approach, convergence/robustness analysis, design • Lifted iterative learning control • Automated FF tuning using identification-based approach • Input shaping and rational feedforward • Repetitive control • Simulation and design using Matlab and SIMULINK • Hands-on experience with real-time implementation on HP printer setup.

Advanced Feedforward Control – overview Adrian M. Rankers

Contents Mechatronics Training Curriculum

Details of Course Advanced Feedforward Control

Advanced Feedforward Control – overview Adrian M. Rankers

Mechatronics Training Curriculum Workshop Mechatronics System Design

Premium

Advanced

Standard

Advanced Motion Control (5 days)

Advanced Feedforward Control (3 days)

Motion Control Tuning (6 days)

Design Principles Masterclass (8 sessions)

Design Principles Basics (5 days)

Advanced Mechatronic System Design (6 days)

Design for Additive Manufacturing (3 days)

Design for Ultra Clean Vacuum (4 days)

Dynamics and Modelling (3 days)

Experimental Techniques in Mechatronics (3 days)

Metrology & Calibration of Mechatronic Systems (3 days)

Mechatronics System Design – part 2 (5 days)

Basic Mechatronics System Design – part 1 (5 days)

Start

www.mechatronics-academy.nl

Advanced Feedforward Control – overview Adrian M. Rankers

Actuation and Power Electronics (3 days)

Machine Vision in Mechatronic Systems (2 days)

Thermal Effects in Mechatronic Systems (3 days) Summer School Opto Mechatronics (5 days)

* Relevant partner trainings: Applied Optics, Electronics for nonelectrical engineers, System Architecture, Soft skills for technology professionals, …

Mechatronics Training December 31, 2009 Philips decided to stop all its training activities, which were carried out by the Philips Centre for Technical Training (CTT), and all training programs were transferred to external parties.

Currently, all former Philips trainings (and more) are offered to the market under the umbrella of The High Tech Institute (www.hightechinstitute.nl). Content partner for all Mechatronics courses is Mechatronics Academy B.V. (www.mechatronics-academy.nl) which is set-up and supervised by : Professor Dr.ir. Jan van Eijk Professor Dr.ir. Maarten Steinbuch Dr.ir. Adrian Rankers

Advanced Feedforward Control – overview Adrian M. Rankers

Advanced Feedforward Control

Advanced Feedforward Control – overview Adrian M. Rankers

Topics -

Overview application areas

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Feed-forward design for high-precision motion systems: velocity, acceleration, jerk, snap feedforward

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Iterative learning control: basic principles, frequency domain approach, convergence and robustness analysis, and design

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Lifted iterative learning control: basic principles, analysis, optimal design

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Basis functions in iterative learning control

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Automated feedforward tuning through identification-based approach

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Input shaping and rational feedforward

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Repetitive control: basic principles

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Simulation and design of systems using Matlab and SIMULINK

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Hands-on experience with real-time implementation on HP printer setup.

Advanced Feedforward Control – overview Adrian M. Rankers

Course Directors / Trainers Course Director(s) • Prof.dr.ir. Maarten Steinbuch • Dr.ir. Tom Oomen

Teachers

• TU/Eindhoven: • Prof.dr.ir. Maarten Steinbuch, • Dr. ir. Tom Oomen

• Dr.ir. Joost Bolder • Ir. Jurgen van Zundert • Ir. Lennart Blanken

• Invited experts from industry • Dr.ir. Dennis Bruijnen (Philips) • Dr.ir. Sjirk Koekebakker (Océ)

Advanced Feedforward Control – overview Adrian M. Rankers

Program Day

Timing

Topic

Trainers

Morning

• Introduction & (Advanced) Feedforward • Frequency Domain ILC

Steinbuch Oomen

Afternoon

• Frequency Domain ILC (continued) • Hands-on experiments

Oomen Oomen / Bolder

Morning

• Fundamentals of lifted ILC • Hands-on experiments

Bolder Oomen / Bolder

Afternoon

• Automated Feedforward Tuning • Hands-on experiments

Bolder Bolder / Oomen

Morning

•

Steinbuch / Oomen

Afternoon

• Invited industry research presentation

1

2

3

Repetitive Control

Advanced Feedforward Control – overview Adrian M. Rankers

Sjirk Koekebakker Dennis Bruinen

8

Day 1 (morning): Introduction / Goals Advanced Feedforward Frequency Domain ILC

Advanced Feedforward Control – overview Adrian M. Rankers

Day 1 (afternoon): Frequency Domain ILC

Hands-on experiments

Advanced Feedforward Control – overview Adrian M. Rankers

Day 2 (morning): Lifted ILC Experiments

Advanced Feedforward Control – overview Adrian M. Rankers

Day 2 (afternoon): Automated Feedforward tuning Experiments

Different setpoints

AFC ILC Advanced Feedforward Control – overview Adrian M. Rankers

Day 3 (morning): Repetitive Control Experiments

Advanced Feedforward Control – overview Adrian M. Rankers

Day 3 (afternoon): Applications/Research ILC applications and autotuning Research outlook: printer applications, basis functions, and extensions

Advanced Feedforward Control – overview Adrian M. Rankers

Sign-up for this training Via the website of our partner The High Tech Institute

Advanced Feedforward Control – overview Adrian M. Rankers