Design and Implementation of a New Approach Based on the Error Feedforward Compensation for Motion Controller

This paper presents a new positioning motion correction method to obtain accuracy positioning and to alleviate the chatting in sharp corner of velocity and to meet sudden change periodicity of the Z-axis with a moving mass. The proposed control methods are composed of a feedforward and feedback controller. The input tracing plan based on the analytic modeling and improved correction method of the system is proposed as a feedback controller to produce desired control response. The feedforward controller based on an error compensator is designed to meet specified performance and to stabilize the whole control system in the presence of uncertainties and disturbance. Because of the lead screw´s performance, the AC servo motor tracking error in PID control mode would produce much chatting in the sharp corner of the linear error compensation curve. The proposed error compensation method is based on the processing error compensation curve grouped quadratic curve fitting subjected to the surplus error threshold then replace the initial linear compensation. The feasibility of the proposed method is simulated by the high performance experimental setup.