Model predictive control and spatial governor for multistage processing machines in precision manufacturing

We highlight the potential of model predictive control (MPC) in precision manufacturing by considering the application to multistage processing machines that combine actuators with different operating ranges and different bandwidths to optimize the processing time, product quality, and to increase flexibility. The operation of these machines results in a constrained trajectory generation and control problem with reference-dependent constraints. We propose a design based on a spatial reference governor and a tracking MPC for real-time control of a dual stage processing machine. The method guarantees constraint satisfaction, finite time processing of a given spatial pattern, and real-time execution. Results on a real processing pattern generated using CAD-CAM are shown. IFAC Symposium Nonlinear Model Predictive Control Conference (NMPC) This work may not be copied or reproduced in whole or in part for any commercial purpose. Permission to copy in whole or in part without payment of fee is granted for nonprofit educational and research purposes provided that all such whole or partial copies include the following: a notice that such copying is by permission of Mitsubishi Electric Research Laboratories, Inc.; an acknowledgment of the authors and individual contributions to the work; and all applicable portions of the copyright notice. Copying, reproduction, or republishing for any other purpose shall require a license with payment of fee to Mitsubishi Electric Research Laboratories, Inc. All rights reserved. Copyright c © Mitsubishi Electric Research Laboratories, Inc., 2015 201 Broadway, Cambridge, Massachusetts 02139 MPC and spatial governor for multistage precision manufacturing machines Stefano Di Cairano ∗ Abraham Goldsmith ∗ Scott A. Bortoff ∗ ∗ Mitsubishi Electric Research Laboratories, Cambridge, MA 02139 USA (e-mail: dicairano,goldsmith,bortoff@merl.com) Abstract: We highlight the potential of model predictive control (MPC) in precision manufacturing by considering the application to multistage processing machines that combine actuators with different operating ranges and different bandwidths to optimize the processing time, product quality, and to increase flexibility. The operation of these machines results in a constrained trajectory generation and control problem with reference-dependent constraints. We propose a design based on a spatial reference governor and a tracking MPC for real-time control of a dual stage processing machine. The method guarantees constraint satisfaction, finite time processing of a given spatial pattern, and real-time execution. Results on a real processing pattern generated using CAD-CAM are shown. We highlight the potential of model predictive control (MPC) in precision manufacturing by considering the application to multistage processing machines that combine actuators with different operating ranges and different bandwidths to optimize the processing time, product quality, and to increase flexibility. The operation of these machines results in a constrained trajectory generation and control problem with reference-dependent constraints. We propose a design based on a spatial reference governor and a tracking MPC for real-time control of a dual stage processing machine. The method guarantees constraint satisfaction, finite time processing of a given spatial pattern, and real-time execution. Results on a real processing pattern generated using CAD-CAM are shown.