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http://dx.doi.org/10.3795/KSME-A.2010.34.12.1925

Nonlinear Adaptive Control for Position Synchronization of a Gantry-Moving-Type Linear Motor  

Han, Sang-Oh (Dept. of Automotive Engineering, Hanyang Univ.)
Kim, In-Keun (Dept. of Automotive Engineering, Hanyang Univ.)
Huh, Kun-Soo (School of Mechanical Engineering, Hanyang Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.34, no.12, 2010 , pp. 1925-1930 More about this Journal
Abstract
For high-speed/high-accuracy position control of a gantry-moving-type linear motor, we propose a nonlinear adaptive controller including a synchronization algorithm. Linear motors are easily affected by force ripple, friction, and parameter variations because there is no mechanical transmission to reduce the effects of model uncertainties and external disturbances. Synchronization error is also caused by skew motion, model uncertainties, and force disturbance on each axis. Nonlinear effects such as friction and ripple force are estimated and compensated for. The synchronization algorithm is used to reduce the synchronous error of the two side pillars. The performance of the controller is evaluated via computer simulations.
Keywords
Synchronization Control; Gantry-Moving Type Linear Motor; Adaptive Control; Friction Force; Force Ripple;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
Times Cited By SCOPUS : 0
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