Advanced Motion Control Design

• Published in: The Control Handbook pp. 675 - 700
• Format: Book Chapter
• Language: English
• Published: United Kingdom CRC Press 2011; Taylor & Francis Group
• Subjects: Electronics engineering; ENVIRONMENTAL ENGINEERING & TECHNOLOGY; SCIENCE: GENERAL ISSUES; Decoupling Transformations; Component Placement Machines; Sample Topography; Loop Closing; Eigenvalue Loci; Feedforward Controller; Multiplicative Output Uncertainty; Servo Error; Weighting Filter; DOF; Motion Systems; Crossover Frequencies; QFT; Complementary Sensitivity Function; Control Design; Reference Trajectory; Tracking Errors; MIMO System; Closed Loop Specifications; Controller Design; Rb Mode; AFM Head; Transfer Function Matrix; ZYGO Interferometer; Feedback Control Design
• ISBN: 9781420073607; 1420073605
• DOI: 10.1201/b10382-40

Mechanical systems with actuators that have the primary function to position a load are called motion systems. The actuator can be either hydraulic, pneumatic, or electric. The trend is toward energy efficient and clean electric (and piezo) drives andmotors.Motion systems are different from robotic systems in the sense that the freedomof trajectory planning andmotion profile is often limited.Adifferencewith the field of active vibration systems is that a real motion is done. Linear and rotational drives are examples, but also state-of-the art planar 6DOF (degree-of-freedom) motion platforms. A typical feature of motion systems is that the system dynamics can often be approximated well by using linear models, albeit sometimes with significant flexible dynamics, especially in high-performance and high-DOF systems. Cheaper motion systems typically have friction in the guidance. Backlash is often prevented by application of direct drive actuators. The sensors used nowadays are often encoders, which can be used down to extreme resolutions (below nm).