Many manufacturing machines must execute motions as quickly as possible to achieve profitable high-volume production. Most of them exhibit some flexibility, which makes the settling time longer and controller design difficult. This paper develops a control strategy that combines feedforward and feedback control with command shaping for systems with collocated actuator and sensor. First, a feedback controller is designed to increase damping and eliminate steady-state error. Next, an appropriate reference profile is generated using command-shaping techniques to ensure fast point-to-point motions with minimum residual vibration. Finally, a feedforward controller is designed to speed up the transient response. The proposed proportional-integral-derivative (PID) controller design ensures that two important resonant frequencies nearly match, making the design of the input commands much simpler. The resulting control strategy is successfully demonstrated for a generic dimensionless system that incorporates some modeling errors to assess robustness.
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Controller Design Procedure for Two-Mass Systems With Single Flexible Mode
Young Joo Shin,
Young Joo Shin
FAB Equipment Development Team,
Samsung Electronics Co., Ltd.
, Hwasung-City, Gyeonggi-Do, 445-701 Korea
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Peter H. Meckl
Peter H. Meckl
School of Mechanical Engineering,
Purdue University
, 585 Purdue Mall, West Lafayette, IN 47907-2088
Search for other works by this author on:
Young Joo Shin
FAB Equipment Development Team,
Samsung Electronics Co., Ltd.
, Hwasung-City, Gyeonggi-Do, 445-701 Korea
Peter H. Meckl
School of Mechanical Engineering,
Purdue University
, 585 Purdue Mall, West Lafayette, IN 47907-2088J. Dyn. Sys., Meas., Control. May 2008, 130(3): 031002 (13 pages)
Published Online: April 9, 2008
Article history
Received:
June 29, 2006
Revised:
June 6, 2007
Published:
April 9, 2008
Citation
Shin, Y. J., and Meckl, P. H. (April 9, 2008). "Controller Design Procedure for Two-Mass Systems With Single Flexible Mode." ASME. J. Dyn. Sys., Meas., Control. May 2008; 130(3): 031002. https://doi.org/10.1115/1.2837311
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