DocumentCode :
631788
Title :
Robust precision positioning control on linear ultrasonic motor
Author :
Nguyen, Minh H.-T ; Kok Kiong Tan ; Wenyu Liang ; Chek Sing Teo
Author_Institution :
SIMTech-NUS Joint Lab. (Precision Motion Syst.), Nat. Univ. of Singapore, Singapore, Singapore
fYear :
2013
fDate :
9-12 July 2013
Firstpage :
170
Lastpage :
175
Abstract :
Ultrasonic motors used in high-precision mechatronics are characterized by strong frictional effects, which are among the main problems in precision motion control. The traditional methods apply model-based nonlinear feedforward to compensate the friction, thus requiring closed-loop stability and safety constraint considerations. Implementation of these methods requires computation power. This paper introduces a systematic approach using piecewise affine models to emulate the friction effect of the motor motion. The well-known model predictive control method is employed to deal with piecewise affine models. The increased complexity of the model offers a higher tracking precision on a simpler gain scheduling scheme.
Keywords :
closed loop systems; feedforward; linear motors; machine control; mechatronics; motion control; nonlinear control systems; position control; predictive control; robust control; closed-loop stability; frictional effects; high-precision mechatronics; linear ultrasonic motor; model predictive control; model-based nonlinear feedforward; precision motion control; robust precision positioning control; safety constraint; Acoustics; Computational modeling; Data models; Friction; Predictive models; Robustness; Rotors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on
Conference_Location :
Wollongong, NSW
ISSN :
2159-6247
Print_ISBN :
978-1-4673-5319-9
Type :
conf
DOI :
10.1109/AIM.2013.6584087
Filename :
6584087
Link To Document :
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