Model-based Motion Control Design of a Linear Motor Stage in Frequency Domainopen access선형 모터 스테이지의 주파수 영역 모델기반 모션 제어 설계
- Other Titles
- 선형 모터 스테이지의 주파수 영역 모델기반 모션 제어 설계
- Authors
- 전희원; 안형준
- Issue Date
- Jan-2024
- Publisher
- 한국정밀공학회
- Keywords
- Linear motor stage; Frequency domain; Motion controller; Tuning GUI; Disturbance observer; Iterative learning control; 선형 모터 스테이지; 주파수 영역; 모션 제어기; 튜닝 그래픽 인터페이스; 외란 관측기; 반복 학습 제어
- Citation
- 한국정밀공학회지, v.41, no.1, pp 55 - 60
- Pages
- 6
- Journal Title
- 한국정밀공학회지
- Volume
- 41
- Number
- 1
- Start Page
- 55
- End Page
- 60
- URI
- https://scholarworks.bwise.kr/ssu/handle/2018.sw.ssu/49515
- DOI
- 10.7736/JKSPE.023.107
- ISSN
- 1225-9071
2287-8769
- Abstract
- The fourth industrial revolution led to advanced servo systems, enhancing productivity across industries. However, designing these systems remains challenging due to the performance-stability trade-off. This paper presents a model-based motion control of a linear motor motion stage in frequency domain. A user-code for the PowerPMAC commercial controller was developed to excite motion control system so that we could get a frequency response. The theoretical frequency response of the servo algorithm was compared with the experimental frequency response. Based on this, a tuning graphical user interface (GUI) was developed to predict performance when the servo loop gain is changed. Especially, to compensate for residual vibrations caused by high acceleration and deceleration and to improve tracking error, DOB (Disturbance Observer) and ILC (Iterative Learning Control) control techniques were applied in the frequency domain. Through the design of the frequency domain motion controller, the control performance of the linear motor motion stage could be predicted with over 96% accuracy, resulting in a 54.32% improvement in tracking error and a 93.56% improvement in settling time, 85.29% in RMS error.
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