This paper investigates the use of optimal l1 and H∞ model reference optimal feedforward control to enhance the tracking performance of a linear motor drive. Experimental work is presented which studies the effects of signal preview, tracking constraint, and reference model choice on tracking performance. Suboptimal l1 control where the closed-loop system has a zero on the unit circle due to integral action in the feedback controller is given special attention, and is seen to give near optimal performance for the system under study here. For the specific trajectory employed here, the best performing feedforward controllers were experimentally seen to reduce by more than half the maximum and rms tracking errors of the H∞ optimal feedback closed-loop systems.
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March 1998
Technical Briefs
Control of Linear Motors for Machine Tool Feed Drives: Experimental Investigation of Optimal Feedforward Tracking Control
David M. Alter
,
David M. Alter
Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
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Tsu-Chin Tsao
Tsu-Chin Tsao
Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
Search for other works by this author on:
David M. Alter
Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
Tsu-Chin Tsao
Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
J. Dyn. Sys., Meas., Control. Mar 1998, 120(1): 137-142 (6 pages)
Published Online: March 1, 1998
Article history
Received:
June 1, 1994
Online:
December 3, 2007
Citation
Alter, D. M., and Tsao, T. (March 1, 1998). "Control of Linear Motors for Machine Tool Feed Drives: Experimental Investigation of Optimal Feedforward Tracking Control." ASME. J. Dyn. Sys., Meas., Control. March 1998; 120(1): 137–142. https://doi.org/10.1115/1.2801310
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