时间正则化作为减轻量化引起的性能下降的解决方案
Time regularization as a solution to mitigate quantization induced performance degradation
摘要：
已知复位控制能够优于PID等线性控制器。然而，在运动控制系统中，量化会导致严重的性能下降。本文展示了时间正则化的应用，以减轻复位控制系统中的这一实际问题。为了分析量化引起的性能退化的原因以及时间正则化减轻这种退化的有效性，进行了数值模拟;还提供了时间正则化参数的调整指南。此外，进行了鲁棒性分析。该方案还在高精度运动系统上进行了实验验证。据估计，通过数值模拟，时间正则化可以减少量化引起的性能下降近10 dB。实验已经类似地示出了对于高精度运动平台的几dB的减小。
英文摘要：
Reset control is known to be able to outperform PID and the like linear controllers. However, in motion control systems, quantization can cause severe performance degradation. This paper shows the application of time regularization to mitigate this practical issue in reset control systems. Numerical simulations have been conducted in order to analyze the cause of the quantization induced performance degradation and the effectiveness of time regularization to mitigate this degradation; with tuning guidelines for the time regularization parameter also provided. Moreover, a robustness analysis is performed. The solution is also tested experimentally on a high precision motion system for validation. It is estimated by numerical simulations that time regularization can reduce quantization induced performance degradation by almost 10 dB. Experiments have similarly shown a reduction of several dB for the high precision motion stage.
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