Practical motion control with acceleration reference for precision motion - new NCTF control and its application to non-contact mechanism
This paper presents an improved practical controller for enhancing precision motion performance. For practical use, high motion control performance and ease of controller design are desired. A nominal characteristic trajectory following control (NCTF control) has been studied to satisfy the desire...
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| Format: | Article |
| Language: | en |
| Published: |
Elsevier
2011
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/9690/1/%5BElsevier%5D_Practical_motion_control_with_acceleration_reference_for_precision_motion_New_NCTF_control_and_its_application_to_non_contact_mechanism.pdf http://eprints.utem.edu.my/id/eprint/9690/ http://www.journals.elsevier.com/precision-engineering/ |
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| Summary: | This paper presents an improved practical controller for enhancing precision motion performance. For
practical use, high motion control performance and ease of controller design are desired. A nominal
characteristic trajectory following control (NCTF control) has been studied to satisfy the desired response.
The NCTF controller consists of a nominal characteristic trajectory (NCT) which is the reference motion
of control system and a compensator which makes the motion of the controlled object to follow the
NCT. The NCT is easily determined from experimental open-loop time responses of the mechanism. The
controller parameters can be also determined easily, without any given model parameters. In the present
paper, the Continuous Motion NCTF controller for high continuous motion performance is improved in
order to enhance the following characteristic of the object motion on NCT and improve the positioning
and tracking accuracies of the system. The improved Continuous Motion NCTF controller (referred to
as Acceleration Reference-Continuous Motion NCTF controller (AR-CM NCTF controller)) provides the
advantages such as the high overshoot reduction characteristics and the low sensitivity disturbance. The
AR-CM NCTF controller includes the structure of the Continuous Motion NCTF controller and acceleration
reference for the object motion as the additional controller elements. The design procedure of the AR-CM
NCTF controller remains easy and practical. In order to confirm the advantages, theAR-CMNCTF controller
was examined in positioning and tracking motion performances using the non-contact mechanism. The
experimental results prove that the AR-CM NCTF controller achieves the better positioning and tracking
performances than the Continuous Motion NCTF controller. |
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