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초록
Linear motors are easily affected by load disturbances, force ripples, friction, and parameter variations because there are no mechanical transmissions that can reduce the effects of model uncertainties and external disturbance. In this study, a nonlinear adaptive controller to achieve high-speed/high-accuracy position control of a two-axis linear motor is designed. The operation of this controller is based on a cross-coupling algorithm. Nonlinear effects such as friction and force ripples are estimated and compensated for. An enhanced cross-coupling algorithm is proposed for effectively improving the biaxial contour accuracy while achieving closed-loop stability. The proposed controller is evalvated by performing computer simulations.
키워드
Adaptive sliding mode control; Cross-coupling control; Force ripple; Friction force; Adaptive sliding mode control; Closed loop stability; Contour accuracy; Cross-coupling control; Cross-couplings; External disturbances; Force ripple; Friction force; Load disturbances; Mechanical transmission; Model uncertainties; Nonlinear adaptive controller; Nonlinear effect; Parameter variation; Two-axis; Computer simulation; Friction; Linear motors; Position control; Sliding mode control; Tribology; Uncertainty analysis; Controllers
- 제목
- Position control of linear motor by using enhanced cross-coupling algorithm
- 저자
- Han, Sangoh; Huh, Kunsoo
- 발행일
- 2010-03
- 유형
- Article
- 저널명
- 대한기계학회논문집 A
- 권
- 34
- 호
- 3
- 페이지
- 369 ~ 374