报告人：陈思鲁博士
时间：2016-9-22（周四）16:30-17:30
地点：玉泉校区液压老楼四楼会议室
欢迎各位老师和同学的积极参加！
Low-Order Controls for High-Order Dynamics, Where to Go?
Abstract: The physical motion systems may contain multiple resonant modes and be impeded nonlinear disturbances. But for ease of tuning and maintenance, the corresponding industrial motion controllers are generally in low-order, linear, and fixed structures forms, such as the PID and inertia feedforward controllers. Some of our recent proposed approaches to solve above conflict are discussed in this talk. Firstly, to cater for the current industrial practice of the trajectory planning up to the jerk, we have developed a model-based, third-order feedforward controller to concurrently handle both the rigid-body mode and the lump-sum of the flexible modes. Secondly, by incorporating this controller in both feedforward and feedback loops, and performing the follow-up data-based tuning of the fixed structure controller, we are able to achieve better tracking and disturbance rejection without compromising the performance of noise attenuation. Thirdly, to satisfy additional specifications such as energy saving and jerk-decoupling, solely tuning of the fixed structure controller is difficult. If time permits, I will talk about our proposed hybrid system-controller optimization approach, while we find that such a class of problems is not solvable by linear optimal control theory. Here, efficient optimization algorithm is developed to achieve parameter convergence as fast as the convex optimization counterparts.
Brief Biography
Si-Lu Chen received his B. Eng and PhD degrees, both from the National University of Singapore (NUS), in 2005 and 2010 respectively. From 2010 to 2011, he was with Manufacturing Integration Technology Ltd, a Singapore-based semiconductor machine designer, as a senior engineer on motion control. Since 2011, he has been with Mechatronics group, Singapore Institute of Manufacturing Technology (SIMTech), Agency for Science Technology and Research (A*STAR). He is currently a scientist of SIMTech and an adjunct assistant professor of NUS. He is also co-PI of SIMTech-NUS Joint-Lab of Precision Motion Systems, leading two collaborative research projects, and PhD co-advisor for A*STAR Graduate School. His current research interests include integrated mechatronics design and optimization of high-speed motion control systems, and beyond-rigid-body control for compliant light-weight systems. He is currently serving as technical reviewers for IEEE/ASME Transactions of Mechatronics, IFAC Journal of Mechatronics, and ISA Transactions.
对高阶动态系统运用低阶控制的工业可行性方案的一些探索
报告摘要：随着工业控制系统对节能和快速的要求，轻质零部件得到了越来越广泛的运用，其伴随的低频共振对高精控制提出了新的挑战。而目前工业上应用的控制器仍然是固定结构的线性低阶控制器如PID和惯性前馈，同时现行的运动轨迹规划至多到三阶。不像欧洲一些高精半导体机床企业如ASML能够自行研发装备，自行生产控制器和高端直驱运动平台，新加坡的半导体自动化设备设计企业主要使用工业标准化的控制器来控制低成本的间驱平台，且同步齿型带和球螺杆传动的模型常常是不准确的。那如何在不改变或尽量少改变工业现行标准的情况下适应柔性系统的高速高精控制呢？首先,我们研发了基于模型的三阶前馈控制器来同时处理刚体模态和集中柔性模态。其次,通过将前馈和反馈环融合在控制器中，并对固定结构控制器基于数据调节参数,我们能够获得更好的轨迹跟踪和干扰抑制且不降低噪声抑制性能。再次，为满足额外的性能要求如节能和快速性，单独调节固定结构的控制器是困难的，我们转为机电一体化的设计，并提出了高效优化算法来以获得快速的参数收敛。
陈思鲁博士的个人简历：
陈思鲁博士于2000年考入浙江大学国际政治专业攻读法学学位,同年获得新加坡教育部全额奖学金赴新留学。他于2005年和2010年分别在新加坡国立大学获得电气工程学士与博士学位。从2010年至2011年，他在新加坡综合制造科技（玛埃特）有限公司研发部任高级工程师。2011年至今，他加入新加坡科技研究局属下的新加坡科技制造研究所(SIMTech)机电室，任研究科学家。从2015年起，他也在新加坡国立大学(NUS)电气电脑工程系任兼职助理教授。他也是SIMTech-NUS联合实验室的两个合作项目的主持人，以及新加坡科技研究局研究生院的博士生导师。至今他已经在国际期刊和会议上发表论文40余篇。他目前的研究方向是机电系统综合设计和参数优化，以及柔性系统的超刚体控制。