Control Design and Implementation for Sawyer Motors Used in Manufacturing Systems

Krishnamurthy, P.; Khorrami, Farshad; Ng, Tzer Leei; Cherepinsky, Igor

doi:10.1109/tcst.2010.2091506

Cited by 10 publications

(8 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The principles of each forcer are similar to those of a permanent magnet stepper motor. The electrical dynamics of the forcer X 1 is expressed [5] as follows:…”

Section: Mathematical Model Of Planar Motormentioning

confidence: 99%

“…Note that F x , F y , and τ are not actual inputs in the mechanical dynamics (5). Thus, the virtual inputs (9) are the desired X-axis and Y-axis forces and torque, which are expressed as follows:…”

Section: Backstepping Control Using Blf For Mechanical Dynamicsmentioning

confidence: 99%

“…However, when these forcers are operated by open-loop microstepping, they may miss steps, or have long settle times Furthermore, the undesired rotation (yaw) produced by the asynchronous mounted forcers at the center of mass cannot be regulated by open-loop microstepping. Various feedback control methods have been proposed to control planar motors [2][3][4][5][6]. A robust adaptive control was designed to improve the position tracking performance [2].…”

Section: Introductionmentioning

confidence: 99%

“…An adaptive variable structure controller was proposed to guarantees global asymptotic tracking of a reference trajectory in [4]. A robust backstepping method was proposed to control planar motors without parameter information and current measurements [5]. The lead and proportional-integral (PI) compensators were proposed to satisfy phase margin for planar motors [6].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors

2020

View full text Add to dashboard Cite

In this paper, we propose a nonlinear position control using only position feedback to guarantee the tolerances for position tracking errors and yaw. In the proposed method, both mechanical and electrical dynamics are considered. The proposed method consists of the nonlinear position controller and nonlinear observer. The nonlinear position controller is designed by a backstepping procedure using the barrier Lyapunov function to satisfy the constraints of position error and yaw. The nonlinear observer is developed to estimate full state using only position feedback. The stability of the closed-loop system is proven using Lyapunov and input-to-state stabilities. Consequently, the proposed method satisfies the constraints of position error and yaw using only position feedback for the planar motor.

show abstract

“…The principles of each forcer are similar to those of a permanent magnet stepper motor. The electrical dynamics of the forcer X 1 is expressed [5] as follows:…”

Section: Mathematical Model Of Planar Motormentioning

confidence: 99%

Section: Backstepping Control Using Blf For Mechanical Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors

2020

View full text Add to dashboard Cite

show abstract

“…An adaptive control is used for minimization of ripple and analyzing the control performance [1], [2]. A PD/PID controllers is designed in conjunction with commutation and delay compensation schemes [3], [4].…”

mentioning

confidence: 99%

Simplified Nonlinear Control for Planar Motor based on Singular Perturbation Theory

Seo¹,

Shin²,

Lee³

et al. 2015

The Transactions of The Korean Institute of Electrical Engineer

View full text Add to dashboard Cite

-In this paper, we propose the nonlinear control based on singular perturbation theory for position tracking and yaw regulation of planar motor. Singular perturbation theory is characterized by the existence of slow and fast transients in the system dynamics. The proposed method consists of auxiliary control to decouple error dynamics. We develop model reduction with control input. Also, we derIve decoupled error dynamics with auxiliary input. The controller is designed in order to guarantee the desired position and yaw regulation without current feedback or estimation. Simulation results validate the effect of proposed method. Modeling and Controller DesignIn this section, we represent planar motor dynamics and

show abstract

H∞ Control Using Linear Parameter Varying Approach for Motion Control Systems Under Communication Delays: Application to PMSM

Lee

Moon

Kim

et al. 2019

J. Electr. Eng. Technol.

View full text Add to dashboard Cite

Control Design and Implementation for Sawyer Motors Used in Manufacturing Systems

Cited by 10 publications

References 30 publications

Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors

Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors

Simplified Nonlinear Control for Planar Motor based on Singular Perturbation Theory

H∞ Control Using Linear Parameter Varying Approach for Motion Control Systems Under Communication Delays: Application to PMSM

Contact Info

Product

Resources

About