Abstract
The research realizes a fast and high-precision positioning control for a high acceleration X-Y platform using an embedded motion control system. The control algorithm consists of a PD controller which is designed by pole placement approach to implement the feedback control, a feed forward controller to improve the dynamic performance of the servo mechanical system and a disturbance observer to suppress the external disturbances. The model of the high acceleration platform, which is driven by permanent magnet linear synchronous motors (PMLSMs), is first identified by a time domain relay feedback test. Then, the three parts of the controller are designed based on the identified model. The coefficient quantization error and the computational truncation error are specially considered in the fix-point DSP platform, which makes the implementation feasible to run in the embedded motion system. Experimental results are presented to demonstrate the effectiveness of the proposed control algorithm.
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© 2012 Springer-Verlag Berlin Heidelberg
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Liu, C., Liu, J., Wu, J., Xiong, Z. (2012). High Precision Embedded Control of a High Acceleration Positioning System. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7507. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33515-0_54
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DOI: https://doi.org/10.1007/978-3-642-33515-0_54
Publisher Name: Springer, Berlin, Heidelberg
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