Knowledge Atlas

Turning raw samples into trustworthy signals: sampling, spectral estimation, windowing and filtering.

Topics

• Sampling
• FFT
• Windowing
• Filtering
• Quantization

Notes

• Why Does Displacement Respond Later Than the Force Command?
• How to Obtain a Stable FRF Using Welch Averaging
• How Encoder Resolution Limits Small-motion Performance

Measuring what the machine actually is: FRF estimation, Welch averaging, excitation design and MIMO identification.

Topics

• FRF
• Welch
• Chirp
• Coherence
• MIMO Identification

Projects

• Bonding Head Z-axis Force Control
• Gantry MIMO FRF Identification

Notes

• How to Obtain a Stable FRF Using Welch Averaging
• Why Can an Anti-resonance Have Poor Repeatability?
• Understanding Linear and Yaw Modes in a Gantry

From identified plant to running controller: PID, loop shaping, feedforward, force control and decoupling.

Topics

• PID
• Loop Shaping
• Feedforward
• Decoupling
• Force Control

Projects

• Bonding Head Z-axis Force Control
• Gantry MIMO FRF Identification
• Motion System Sizing Framework

Notes

• Why Does Displacement Respond Later Than the Force Command?
• Understanding Linear and Yaw Modes in a Gantry
• How Encoder Resolution Limits Small-motion Performance

The physics behind the plots: resonance, anti-resonance, contact dynamics, friction and preload effects.

Topics

• Resonance
• Anti-resonance
• Contact Dynamics
• Friction
• Preload

Projects

• Bonding Head Z-axis Force Control
• Motion System Sizing Framework

Notes

• Why Does Displacement Respond Later Than the Force Command?
• Why Can an Anti-resonance Have Poor Repeatability?
• How Encoder Resolution Limits Small-motion Performance

Making it real and repeatable: MATLAB, Simulink, C++, real-time constraints and engineering software tools.

Topics

• MATLAB
• Simulink
• C++
• Real-time Control
• TypeScript

Projects

• Bonding Head Z-axis Force Control
• Gantry MIMO FRF Identification
• Motion System Sizing Framework