Disturbance observer and adaptive controller design for a linear-motor-driven table system

This paper presents a disturbance observer and adaptive controller design for a direct drive motion control system. An indirect adaptive controller is implemented to achieve desired tracking performance as well as deal with system parameters variation. To reduce tracking errors, a newly designed ada...

Full description

Saved in:
Bibliographic Details
Published inInternational journal of advanced manufacturing technology Vol. 35; no. 3-4; pp. 408 - 415
Main Authors Yan, Mu-Tian, Huang, Kuo-Yi, Shiu, Yau-Jung, Chen, Yil
Format Journal Article
LanguageEnglish
Published Heidelberg Springer Nature B.V 01.12.2007
Subjects
Adaptive control
Cogging
Contouring
Control systems design
Control theory
Controllers
Disturbance observers
Electric motors
Feedforward control
Motion control
On-line systems
Tracking errors
Online AccessGet full text

Cover

More Information
Summary:This paper presents a disturbance observer and adaptive controller design for a direct drive motion control system. An indirect adaptive controller is implemented to achieve desired tracking performance as well as deal with system parameters variation. To reduce tracking errors, a newly designed adaptive feed-forward controller is proposed based on an on-line estimated inverse model of the linear motor drive system. A digital disturbance observer is implemented to be included in the proposed feedback-feed-forward control structure to compensate for the undesired nonlinearity and external load disturbance of the direct drive system. Experimental results show that this control scheme can achieve superior contouring accuracy, disturbance rejection and robustness under the influence of friction and cogging force.
ISSN:0268-3768
1433-3015
DOI:10.1007/s00170-007-1173-y