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Non-linear adaptive control of a linear-motor-driven X-Y table via estimating friction and ripple forces

Authors
Huh, Kun SooHan, SangohLee, Bangwook
Issue Date
Jun-2008
Publisher
SAGE PUBLICATIONS LTD
Keywords
linear motor; friction; estimation; adaptive control
Citation
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v.222, no.6, pp.911 - 918
Indexed
SCIE
SCOPUS
Journal Title
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
Volume
222
Number
6
Start Page
911
End Page
918
URI
https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/178521
DOI
10.1243/09544062JMES859
ISSN
0954-4062
Abstract
The linear motors are easily affected by load disturbance, ripple force, friction, and parameter variations because there is no mechanical transmission to reduce the effects of external disturbance. For high-speed/high-accuracy position control of a linear-motor-driven X-Y table, a non-linear adaptive controller including a cross-coupling algorithm is proposed in this paper. The non-linear effects such as friction and ripple force are estimated and compensated. The cross-coupling algorithm is adopted to reduce the contour error of the two-axial system. The performance of the proposed controller is evaluated through the computer simulations and experiments.
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COLLEGE OF ENGINEERING (DEPARTMENT OF AUTOMOTIVE ENGINEERING)
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