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

Lu Lu, Yao Bin, Chen Zheng, Wang Qingfeng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

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

Original languageEnglish (US)
Title of host publication2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008
Pages687-694
Number of pages8
EditionPART A
StatePublished - Oct 19 2009
Externally publishedYes
Event2008 ASME Dynamic Systems and Control Conference, DSCC 2008 - Ann Arbor, MI, United States
Duration: Oct 20 2008Oct 22 2008

Other

Other2008 ASME Dynamic Systems and Control Conference, DSCC 2008
Country/TerritoryUnited States
CityAnn Arbor, MI
Period10/20/0810/22/08

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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