Compensating torque ripples in a coarse pointing mechanism for free-space optical communication: A Gaussian process repetitive control approach

Noud Mooren, Max van Meer, Gert Witvoet*, Tom Oomen

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

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Abstract

Actuators that require commutation algorithms, such as the switched reluctance motor (SRM) considered in this paper and employed in the coarse pointing assembly (CPA) for free-space optical communication, often have torque-ripple disturbances that are periodic in the commutation-angle domain that deteriorate the positioning performance. The aim of this paper is to model the torque ripple as a Gaussian Process (GP) in the commutation-angle domain and consequently compensate for it at arbitrary velocity. The approach employs repetitive control (RC) at a constant velocity. A spatial GP with a periodic kernel is trained using data that is obtained from the RC step resulting in a static non-linear function for compensation at arbitrary velocity. Stability conditions are provided for both steps. The approach is successfully applied to a CPA prototype to improve the tracking performance for laser communication, where the torque ripple is compensated at arbitrary velocity.

Original languageEnglish
Article number103107
Number of pages10
JournalMechatronics
Volume97
DOIs
Publication statusPublished - 2024

Funding

Funding Information:
This work was supported in part by the European Union H2020 Program ECSEL-2016-1 under Grant 737453 (I-MECH) and in part by the ECSEL Joint Undertaking under Grant 101007311 (IMOCO4.E).

Keywords

  • Gaussian process
  • Motion control
  • Optical pointing
  • Repetitive control
  • Switched reluctance motor

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