Robust digital tracking controller design for high-speed positioning systems-a new design approach and implementation techniques

Kobayashi, Hirokazu; Endo, Shuji; Kobayashi, Shinichi; Kempf, Carl J.

doi:10.1109/amc.1996.509381

Cited by 5 publications

(3 citation statements)

References 5 publications

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“…The PDDO controller is a typical robust controller for motor driven mechanisms. Many researchers have examined the effectiveness of the PDDO control [24][25][26][27][28]. It is relatively easier to design than the other advanced controllers and often shows higher robust to the disturbance force and model parameter changes.…”

Section: Introductionmentioning

confidence: 99%

Practical and robust control for precision motion: AR‐CM NCTF control of a linear motion mechanism with friction characteristics

Chong

Sato

2015

IET Control Theory & Applications

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This study presents the framework of the acceleration reference continuous motion nominal characteristic trajectory following (AR-CM NCTF) control system, and its effectiveness in a linear motion mechanism with friction characteristics is experimentally demonstrated in comparison with the other control methods. The overall control system comprises the feedback-loops for velocity reference and acceleration reference following controls. The AR-CM NCTF control is an enhanced continuous motion NCTF (CM NCTF) control that has been proposed for high-precision motion. It has the same structure as the CM NCTF controller with additional elements for high-precision motion. The design procedure of the AR-CM NCTF controller remains easy and is independent of friction characteristics. The usefulness and advantages of the proposed controller are shown in the experimental studies. Besides, this study also highlights the robustness of the AR-CM NCTF controller by examining its performances in point-to-point and tracking motions in the presence of mass and disturbance force variations. In the robust performance, the AR-CM NCTF controller is compared with two types of proportional derivative control systems with disturbance observers (PDDOs). The comparative experimental results illustrate that the AR-CM NCTF controller shows the higher motion performances the higher robustness to plant parameter variations than the PDDO controllers.

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Section: Introductionmentioning

confidence: 99%

Practical and robust control for precision motion: AR‐CM NCTF control of a linear motion mechanism with friction characteristics

Chong

Sato

2015

IET Control Theory & Applications

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“…As to the second tuning algorithm proposed by Kobayashi et al [8], the motion control structure is illustrated in Fig. 5.…”

Section: Parameter Tuning For Motion Controlmentioning

confidence: 99%

“…A limit-cycle oscillation might occur while the system approaches the setpoint. Kobayashi et al [8] judged that this oscillation is caused by the pole close to z = −1 that is introduced by the plant inversion in the DOB and encoder quantization error. However, no analytical results are provided concerning the mutual effect between the DOB and the quantization from the sensors and D/A converter.…”

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confidence: 99%

Rejection of Limit Cycles Induced From Disturbance Observers in Motion Control

Horng

Chou

Lee

2006

IEEE Trans. Ind. Electron.

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Abstract-A disturbance observer (DOB) is generally introduced into motion control systems to eliminate the unwanted disturbance and plant uncertainty. Due to the quantization error from the sensors and D/A converter, DOB-based controller might generate limit cycles which severely decreases positioning accuracy as the system reaches steady-state positioning. This paper presents a sufficient condition for removing limit cycles and explores the condition to design controller parameters. In addition, since the parameters based on the condition make the system sluggish, an adaptive mechanism is introduced not only to maintain the system performance but also to eliminate limit cycles. The experimental results validate the analytical results and also illustrate the effectiveness of the proposed method.

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Research on the control systems of a precision linear motor drive device

Xiankui

Han

Duan

2006

Front. Mech. Eng. China

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The model of a precision linear motor drive device (PLMDD) and its control requirements are analyzed. In order to enhance the tracking and anti-disturbance performance of the system, its third-order model is established, and disturbance-observer based input revising feedforward error compensation robust control algorithm, combined with integral-separated proportional integral derivative (PID) control algorithm is proposed. This includes feedback control algorithm and feedforward control algorithm. The feedback controller improves system tracking performance and suppresses load and mechanical disturbance while the feedforward controller compensates phase hysteresis introduced by feedback control. Theoretical analyses, simulations and experiments show that this control method increases the tracking precision of PLMDD from ±5 µm to ±2 µm and dramatically improves its anti-disturbance ability.

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Robust digital tracking controller design for high-speed positioning systems-a new design approach and implementation techniques

Cited by 5 publications

References 5 publications

Practical and robust control for precision motion: AR‐CM NCTF control of a linear motion mechanism with friction characteristics

Practical and robust control for precision motion: AR‐CM NCTF control of a linear motion mechanism with friction characteristics

Rejection of Limit Cycles Induced From Disturbance Observers in Motion Control

Research on the control systems of a precision linear motor drive device

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