TY - GEN

T1 - Adaptive robust control of a linear motor driven precision industrial gantry with improved cogging force compensation

AU - Lu, Lu

AU - Bin, Yao

AU - Zheng, Chen

AU - Qingfeng, Wang

PY - 2009

Y1 - 2009

N2 - This paper proposes a new model for cogging forces of linear motor systems. Sinusoidal functions of positions are used to capture the largely periodic nature of cogging forces with respect to position effectively while B-spline functions are employed to account for the additional aperiodic part of cogging forces. This model is experimentally demonstrated to be able to capture both the periodic and non-periodic characteristics of cogging force while having a linear parametrization form which makes effective on-line adaptive compensation of cogging forces possible. A discontinuous projection based desired compensation adaptive robust controller (DCARC) is then constructed for linear motors, which makes full use of the proposed cogging force model for an improved cogging force compensation. Comparative experimental results are obtained on both axes of a linear motor driven Anorad industrial gantry having a linear encoder resolution of 0.5 \im. Experiments are done with each axis running separately to compare the three algorithms: DCARC without

AB - This paper proposes a new model for cogging forces of linear motor systems. Sinusoidal functions of positions are used to capture the largely periodic nature of cogging forces with respect to position effectively while B-spline functions are employed to account for the additional aperiodic part of cogging forces. This model is experimentally demonstrated to be able to capture both the periodic and non-periodic characteristics of cogging force while having a linear parametrization form which makes effective on-line adaptive compensation of cogging forces possible. A discontinuous projection based desired compensation adaptive robust controller (DCARC) is then constructed for linear motors, which makes full use of the proposed cogging force model for an improved cogging force compensation. Comparative experimental results are obtained on both axes of a linear motor driven Anorad industrial gantry having a linear encoder resolution of 0.5 \im. Experiments are done with each axis running separately to compare the three algorithms: DCARC without

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M3 - Conference contribution

AN - SCOPUS:70349914376

SN - 9780791843352

T3 - 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008

SP - 687

EP - 694

BT - 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008

T2 - 2008 ASME Dynamic Systems and Control Conference, DSCC 2008

Y2 - 20 October 2008 through 22 October 2008

ER -