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A New Design Approach of Practical Controller for Precision Positioning Systems – Concept and Application to Non-Friction Mechanism

Chong, Shin Horng (2009) A New Design Approach of Practical Controller for Precision Positioning Systems – Concept and Application to Non-Friction Mechanism. In: Asian Society of Precision Engineering & Nanotechnology Conference (ASPEN), Sept 2009, KITAKYUSHU JAPAN .

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Abstract

This paper describes a new practical controller design approach for high precision motion system. For practical use,high motion control performance and ease of design and controller adjustment are desired. A nominal characteristic trajectory following control (NCTF control) has been investigated to realize high performance and ease of application. A NCTF controller consists of a nominal characteristic trajectory (NCT) which is the reference motion of control system and determined from experimental open-loop time responses of the mechanism and a compensator which makes the motion of the controlled object to follow the NCT. The controller parameters can be determined easily, without any given model parameters. In the present paper, the Continuous Motion NCTF control is improved in order to enhance the following characteristic of the object motion on nominal characteristic trajectory and reduction of overshoot. As the new design approach, the improved-Continuous Motion NCTF controller includes the basic structure of the Continuous Motion NCTF controller. Besides the velocity reference, acceleration reference for the object motion is considered as the additional controller elements. In implementing the improved-Continuous Motion NCTF controller, the constructed NCT and PI compensator which are previously designed in the Continuous Motion NCTF controller are used. As the results, the design procedure of the improved-Continuous Motion NCTF controller remains easy and practical. The improved-Continuous Motion NCTF controller is applied to the nonfriction mechanism and its motion performance is evaluated from the experimental positioning and tracking motion control results. The experimental results prove that the improved-Continuous Motion NCTF controller achieves the better positioning performance than the Continuous Motion NCTF controller.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Electrical Engineering > Department of Control, Instrumentation & Automation
Depositing User: Dr Shin Horng Chong
Date Deposited: 05 Sep 2013 01:35
Last Modified: 28 May 2015 04:05
URI: http://eprints.utem.edu.my/id/eprint/9684

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