Non-linear adaptive control of a linear-motor-driven X-Y table via estimating friction and ripple forces
- Authors
- Huh, Kun Soo; Han, Sangoh; Lee, 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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