Title :
Adaptive robust precision motion control of linear motors with ripple force compensations: theory and experiments
Author :
Xu, Li ; Yao, Bin
Author_Institution :
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
This paper studies the high performance robust motion control of linear motors which are subjected to significant force ripple. Based on the structural property of linear motors, some simple models with unknown weights are used to approximate the force ripple as well as other reproducible nonlinearities, such as friction. The unknown weights are adjusted online via certain parameter adaptation law to achieve an improved model compensation. The model approximation error as well as lumped disturbance are handled via certain robust control law to achieve a guaranteed robust performance. Experimental results are obtained for the motion control of an iron core linear motor and verify the high performance of the proposed scheme
Keywords :
adaptive control; compensation; control nonlinearities; force control; linear motors; machine control; motion control; robust control; uncertain systems; adaptive robust precision motion control; certain robust control law; guaranteed robust performance; iron core linear motor; linear motors; lumped disturbance; model approximation error; model compensation; motion control; online weight adjustment; parameter adaptation law; reproducible nonlinearities; ripple force compensations; unknown weights; Adaptive control; Force feedback; Force measurement; Friction; Iron; Linearity; Mechanical engineering; Motion control; Programmable control; Robust control;
Conference_Titel :
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-6562-3
DOI :
10.1109/CCA.2000.897453