Title :
Fast and precise positioning of rotary table systems by feedforward disturbance compensation considering interference force
Author :
Ito, Kazuaki ; Maebashi, Wataru ; Ikeda, Jun ; Iwasaki, Makoto
Author_Institution :
Dept. of Electr. & Electron. Eng, Toyota Nat. Coll. of Technol., Toyota, Japan
Abstract :
This paper presents a model-based feedforward compensation approach for the fast and precise positioning of a rotary table system with two actuators. Since the interference force between the primary and slave actuators deteriorates the positioning performance, the interference model as well as the disturbance model are mathematically modeled to apply the model-based feedforward compensation. The effectiveness of the proposed approach has been verified using a prototype.
Keywords :
actuators; compensation; feedforward; materials handling equipment; position control; disturbance model; feedforward disturbance compensation; interference force; interference model; model based feedforward compensation approach; primary actuators; rotary table systems positioning; slave actuators; Acceleration; Feedforward neural networks; Friction; Interference; Mathematical model; Tracking; Trajectory;
Conference_Titel :
IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society
Conference_Location :
Melbourne, VIC
Print_ISBN :
978-1-61284-969-0
DOI :
10.1109/IECON.2011.6119855
