Nankai University International E-Forum on Artificial Intelligence and Robotics
报告人：Makoto Iwasaki 教授
专家单位：Nagoya Institute of Technology, Japan
研究领域：Applications of control theories to linear/nonlinear modeling and precision positioning, through various collaborative research activities with industries
报告题目：Practical Applications of Precision Motion Control to Industrial Mechatronic Systems
“Motion Control” is one of practical academic disciplines on the basis of control theories, and has been extensively applied to actual “Mechatronic Systems” in various industrial fields. For example, fast-response and high-precision motion control should be indispensable in a wide variety of high performance mechatronic systems including micro and/or nano scale motion, such as data storage devices, machine tools, manufacturing tools for electronics components, and industrial robots, from the standpoints of high productivity, high quality of products, and total cost reduction. In those applications, the required specifications in the motion performance, e.g. response/settling time, trajectory/settling accuracy, etc., should be sufficiently achieved. In addition, the robustness against disturbances and/or uncertainties, the mechanical vibration suppression, and the adaptation capability against variations in mechanisms should be essential properties to be provided in the performance.
This series of lectures, therefore, presents how the motion control can be applied to a wide variety of mechatronic systems to achieve the required motion performance, from the experiential viewpoints of education/training, research, and development activities through the strong collaborations with industries. Examples of the R/D activities for the actual industrial products, including the required performance as well as promising control techniques, can be presented to easily understand the “basics and applications of precision motion control” for newly enrolled master and Ph.D students after learning the basis of control theories. The course consists of 3 lectures as follows:
Lecture #1: Introduction: Basics and applications of precision motion control to high precision mechatronics
1. Background of motion control and mechatronic systems
2. Motion control applications in industry
3. Collaborative research programs with industry
4. R/D approaches toward advanced motion control: Fundamental 2-DOF control framework
5. Practical issues for mechatronics and practical techniques toward precision motion control
Lecture #2: Fast and precision positioning/tracking approach: Friction modeling and compensation
1. Fundamental knowledge on “Friction” in motion control
- Friction as a disturbance in mechanisms
- Examples of motion control performance deteriorations by friction effects
- Practical issues and approaches in motion control
2. 2-DoF control-based fast and precise positioning with friction modeling and compensation
- Rolling friction modeling and compensation
- Disturbance observer with initial value compensation
Lecture #3: Practical applications of optimization algorithms to motion controller design
1. Auto-tuning of motion controller by Genetic Algorithms: Free parameters for mathematical models and compensators
2. Applications of learning and heuristic approaches to motion controller design
3. Applications of LMI-Based Design to Command Shaping in Motion Control
4. Coordinate Design Between FF/FB for Fast and Precise Positioning
Professor Makoto Iwasaki, Dr. Eng., IEEE Fellow
Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Japan
Makoto Iwasaki received the B.S., M.S., and Dr. Eng. degrees in electrical and computer engineering from Nagoya Institute of Technology, Nagoya, Japan, in 1986, 1988, and 1991, respectively. He is currently a Professor at the Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology.
As professional contributions of the IEEE, he has participated in various organizing services, such as, a Co-Editors-in-Chief for IEEE Transactions on Industrial Electronics since 2016, a Vice President for Planning and Development in term of 2018 to 2021, etc. He is IEEE fellow class 2015 for "contributions to fast and precise positioning in motion controller design".
He has received many academic, foundation, and government awards, like the Best Paper and Technical Awards of IEE Japan, the Nagamori Award, the Ichimura Prize, and the Commendation for Science and Technology by the Japanese Minister of Education, respectively. He is also a fellow of IEE Japan, and a member of Science Council of Japan.
His current research interests are the applications of control theories to linear/nonlinear modeling and precision positioning, through various collaborative research activities with industries.