This paper proposes a high-efficiency digital servo driver that realizes an auto-tuning feedback and feedforward controller design using on-line parameters identification. Firstly, the variant inertia constant, damping constant and the disturbed load torque of the linear motor are estimated by a reduced-order recursive least square (RLS) estimator, which is composed of a reduced-order RLS estimator and a disturbance torque compensator (DOC). Because one plant parameter is almost constant in high sampling rate digital control for linear motors, the reduced-order RLS estimator will only calculate one plant parameter for efficiency purposes. Furthermore, the auto-tuning algorithm for the feedback and feedforward controller is realized according to the estimated parameters to match the tracking specification. The proposed auto-tuning digital servo controller is evaluated and compared experimentally with a traditional controller on a microcomputer-controlled linear motor positioning system. The experimental results show that this auto-tuning digital servo system remarkably reduces the tracking error of a controlled machine.
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ASME 2007 International Manufacturing Science and Engineering Conference
October 15–18, 2007
Atlanta, Georgia, USA
Conference Sponsors:
- Manufacturing Division
ISBN:
0-7918-4290-8
PROCEEDINGS PAPER
Adaptive Digital Control Based on Reduced-Order Parameter Identification and Disturbance Observer for Linear Motor
Chin Sheng Chen,
Chin Sheng Chen
National Taipei University of Technology, Taipei, Taiwan
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Shih Chieh Lin,
Shih Chieh Lin
National Taipei University of Technology, Taipei, Taiwan
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Shih Ming Wang,
Shih Ming Wang
Chung Yuan Christian University, Chung-Li, Taiwan
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Yong Ming Hong
Yong Ming Hong
National Taipei University of Technology, Taipei, Taiwan
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Chin Sheng Chen
National Taipei University of Technology, Taipei, Taiwan
Shih Chieh Lin
National Taipei University of Technology, Taipei, Taiwan
Shih Ming Wang
Chung Yuan Christian University, Chung-Li, Taiwan
Yong Ming Hong
National Taipei University of Technology, Taipei, Taiwan
Paper No:
MSEC2007-31069, pp. 751-758; 8 pages
Published Online:
March 24, 2009
Citation
Chen, CS, Lin, SC, Wang, SM, & Hong, YM. "Adaptive Digital Control Based on Reduced-Order Parameter Identification and Disturbance Observer for Linear Motor." Proceedings of the ASME 2007 International Manufacturing Science and Engineering Conference. ASME 2007 International Manufacturing Science and Engineering Conference. Atlanta, Georgia, USA. October 15–18, 2007. pp. 751-758. ASME. https://doi.org/10.1115/MSEC2007-31069
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