Title :
The study of accurate digital control for precision AC servo table
Author :
Liu, Dong ; Mei, Xuesong ; Tao, Tao
Author_Institution :
Sch. of Mech. Eng., Xi´´an Jiaotong Univ., Xi´´an, China
Abstract :
This paper presents a combined digital controller for precision AC servo table. The overall control structure consists of two parts: the feedback controller and feedforward compensator. The feedback controller designed with linear quadratic control of system error state space. And the system parameters are identified via the response of open-loop experiment. The feedforward compensator is used to compensate nonlinear Coulomb friction in this paper. The combined controller successfully was applied to trajectory tracking of precision servo table and the performance was compared with traditional PID control method on the experimental test.
Keywords :
AC machines; boring machines; compensation; digital control; discrete time systems; feedback; feedforward; linear quadratic control; milling machines; open loop systems; parameter estimation; servomotors; state-space methods; digital control; discrete time system; feedback controller; feedforward compensator; linear quadratic control; nonlinear Coulomb friction compensation; open-loop experiment; precision AC servo table; system error state space; system parameter identification; trajectory tracking; Adaptive control; Control systems; Digital control; Error correction; Friction; Linear feedback control systems; Open loop systems; Servomechanisms; State-space methods; Trajectory; feedforward compensation; motion control; optimal control;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246520
