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
UR - http://www.scopus.com/inward/record.url?scp=70349914376&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70349914376&partnerID=8YFLogxK
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 -