Resumen
This paper presents an optimization method that aims to mitigate disturbances in the radial-feed system of the ring-pendulum double-sided polisher (RDP) during processing. We built a radial-feed system model of an RDP and developed a single-tube robust model predictive control system to enhance the disturbance rejection capability of the radial-feed system. To constrain the system states inside the terminal constraint set and further enhance the system?s robustness, we added the e-approximation to approach the single-tube terminal constraint set. Finally, the effectiveness of the proposed method for the RDP radial-feed system was verified through simulations and experiments. These findings demonstrate the potential of the proposed method for improving the performance of the RDP radial-feed system in practical applications. The polish processing results demonstrated a substantial improvement in the accuracy of the surface shape measurements obtained by applying the STRMPC method. Compared to the MPC method, the PV value decreased from 1.49 ? PV to 0.99 ? PV, indicating an improvement in the convergence rate of approximately 9.78%. Additionally, the RMS value decreased from 0.257 ? RMS to 0.163 ? RMS, demonstrating a remarkable 35.6% enhancement in the convergence rate.