Design method of multivariate exponentially weighted moving average controller

An exponential weighting and moving average technology, applied in the direction of digital control, electrical program control, etc., can solve the problem of high noise of AVEWMA controller

Inactive Publication Date: 2013-06-26
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0006] In order to overcome the shortcomings of the large noise of the AVEWMA controller designed by the existing method, the present invention provides a multivariate exponential weighted moving average controller design method

Method used

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  • Design method of multivariate exponentially weighted moving average controller
  • Design method of multivariate exponentially weighted moving average controller
  • Design method of multivariate exponentially weighted moving average controller

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Embodiment Construction

[0024] The specific steps of the multiple exponential weighted moving average controller design method of the present invention are as follows:

[0025] refer to Figure 1~5 . Taking a thin-plate part as an example, set the layout of the global coordinate system {G}, the workpiece coordinate system {W}, and the processing feature coordinate system {F}. The definition of the global coordinate system and the workpiece coordinate system are consistent, and the pose vector of the machining feature coordinate system in the workpiece coordinate system (global coordinate system) is (-75, 125, -7.5, 0, 0, 0). The workpiece adopts "3-2-1" six-point positioning.

[0026] The transformation matrix is ​​obtained according to the relative positional relationship between the coordinate systems:

[0027] Γ = - 1 0 0 ...

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Abstract

The invention discloses a design method of a multivariate exponentially weighted moving average controller and aims to solve the technical problem that the AVEWMA (multivariate exponentially weighted moving average) controller designed by the existing methods is high in noise. According to the technical scheme, the design method includes: firstly, establishing a product process quality fluctuation model; and secondly, processing quality fluctuation data by real-time wavelet denoising, and designing a WRD-MEWMA controller based on filtering state. Various error source input items are comprehensively considered in the process, the process quality fluctuation model is established by a Bayes state space method, noise information in the measured data is processed by the real-time wavelet filtering method based on the model so that more accurate process measured data are obtained, and the WRD-MEWMA controller is designed based on the data. By comparing the performance of the designed multivariate exponentially weighted moving average controller to that of the prior MEWMA controller, characteristic posture error vector average and variance norm of the controlled are respectively 11.37% and 8.01% lower than those of the controller designed by the prior MEWMA method.

Description

technical field [0001] The invention relates to a method for designing a moving average controller, in particular to a method for designing a multivariate exponential weighted moving average controller. Background technique [0002] There are many processes in the part processing process, and the processing quality of each process will be affected by various error sources. After the error source is identified, how to quickly and effectively adjust the error source to return the process to a stable state has become an important technical problem. In the adjustment of discrete processing, the application of EPC controller has been promoted. When the traditional EPC controller is adjusting the processing, or for the process of single input and single output, it combines state space, Kalman filter and Bayesian The estimation method considers the influence of noise on the adjustment and adjusts the processing process; or for the multi-input and multi-output production process, th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/18
Inventor 李山杨青龙陈冰王佩杨升刘凯
Owner NORTHWESTERN POLYTECHNICAL UNIV
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