Due to the potential of achieving high speed and high precision, linear motor driven gantry systems are widely used in industrial applications such as machine tools, semiconductor manufacturing equipments and microelectronics manufacturing equipments. To have large enough driving force, a H-type structure with dual parallel driving motors is usually adopted. Though dual-motor driven structure can deliver higher driving power, the “pull and drag” problem between two motors exists when they are controlled separately. In this paper, a synchronous control scheme is proposed which has an effective thrust allocation to deal with the chattering of the “pull and drag” effect, and uses adaptive robust control (ARC) technique to obtain a guaranteed performance with the presence of both parametric uncertainties and uncertain nonlinearities. Comparative experiments have been done on a dual-linear-motor-driven industrial gantry. The results show that the control input chattering is significantly reduced without sacrificing the good tracking performance of ARC controllers.
- Dynamic Systems and Control Division
Adaptive Robust Synchronous Motion Control of Dual Parallel Linear Motor Driven Stage
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Li, C, Yao, B, & Wang, Q. "Adaptive Robust Synchronous Motion Control of Dual Parallel Linear Motor Driven Stage." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 93-100. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8783
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