Robust motion controller design for high-accuracy positioning systems
- 1 February 1996
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Industrial Electronics
- Vol. 43 (1) , 48-55
- https://doi.org/10.1109/41.481407
Abstract
This paper presents a controller structure for robust high speed and accuracy motion control systems. The overall control system consists of four elements: a friction compensator; a disturbance observer for the velocity loop; a position loop feedback controller; and a feedforward controller acting on the desired output. A parameter estimation technique coupled with friction compensation is used as the first step in the design process. The friction compensator is based on the experimental friction model and it compensates for unmodeled nonlinear friction. Stability of the closed-loop is provided by the feedback controller. The robust feedback controller based on the disturbance observer compensates for external disturbances and plant uncertainties. Precise tracking is achieved by the zero phase error tracking controller. Experimental results are presented to demonstrate performance improvement obtained by each element in the proposed robust control structure.Keywords
This publication has 9 references indexed in Scilit:
- On the compensation of friction forces in precision motion controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A survey of models, analysis tools and compensation methods for the control of machines with frictionAutomatica, 1994
- On the Design of Digital Tracking ControllersJournal of Dynamic Systems, Measurement, and Control, 1993
- Low Velocity Friction Compensation and Feedforward Solution Based on Repetitive ControlJournal of Dynamic Systems, Measurement, and Control, 1993
- Low Velocity Friction Compensation for Machine Tool Feed DrivesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1993
- Robust Digital Tracking Controller Design for High-speed Positioning SystemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1993
- Robust speed control of DC servomotors using modern two degrees-of-freedom controller designIEEE Transactions on Industrial Electronics, 1991
- Design and Implementation of Digital Servo Controller for High Speed Machine ToolsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1991
- Zero Phase Error Tracking Algorithm for Digital ControlJournal of Dynamic Systems, Measurement, and Control, 1987