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To compensate the parallelism error of the multi-channel double-crystal monochromator (DCM), a position domain iterative learning model predictive control (PD-ILMPC) method is proposed in this paper. Due to the unique synchronous motion of the multi-channel DCM, traditional time domain control approaches cannot adequately address the parallelism error between the master and slave shafts, resulting in poor synchronization. Herein, a position domain method combined with ILMPC is developed, mapping the slave trajectory from time domain to the position domain to reduce the synchronization error. The motion characteristics of the multi-channel DCM in position domain are discussed and the trajectory tracking experiments are performed. The results demonstrate that the RMS tracking error in position domain is reduced to 6.11 \(''\) by the proposed PD-ILMPC method, representing reductions of 35.8%, 65.6%, and 86.7% compared to conventional ILMPC, MPC and PID methods respectively, while the motor speed is 1 r/s. The findings verify that the proposed method can significantly improve the position tracking accuracy of the multi-channel DCM system.

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Position Domain Iterative Learning Model Predictive Control for Multi-channel Double Crystal Monochromator

  • 会议论文

  • 发表日期：

    2025年

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  • Haolin Lu,
  • Maomao Liu,
  • Siyu He,
  • Zhao Feng,
  • Xiaowei Zhang,
  • Lin Tang,
  • Jianhua He,
  • Xiaohui Xiao

摘要

To compensate the parallelism error of the multi-channel double-crystal monochromator (DCM), a position domain iterative learning model predictive control (PD-ILMPC) method is proposed in this paper. Due to the unique synchronous motion of the multi-channel DCM, traditional time domain control approaches cannot adequately address the parallelism error between the master and slave shafts, resulting in poor synchronization. Herein, a position domain method combined with ILMPC is developed, mapping the slave trajectory from time domain to the position domain to reduce the synchronization error. The motion characteristics of the multi-channel DCM in position domain are discussed and the trajectory tracking experiments are performed. The results demonstrate that the RMS tracking error in position domain is reduced to 6.11 \(''\) by the proposed PD-ILMPC method, representing reductions of 35.8%, 65.6%, and 86.7% compared to conventional ILMPC, MPC and PID methods respectively, while the motor speed is 1 r/s. The findings verify that the proposed method can significantly improve the position tracking accuracy of the multi-channel DCM system.