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Adaptive Force Ripple Compensation and Precision Tracking Control of High Precision Linear Motor System  

Choi Young-Man (한국과학기술원 기계공학과)
Gweon Dae-Gab (한국과학기술원 기계공학과)
Lee Moon G. (삼성전자 메카트로닉스 연구소)
Publication Information
Journal of the Korean Society for Precision Engineering / v.22, no.12, 2005 , pp. 51-60 More about this Journal
Abstract
This paper describes a robust control scheme for high-speed and long stroke scanning motion of high precision linear motor system consisting of linear motor, air bearing guide and position measurement system using heterodyne interferometer. Nowadays, semiconductor process and inspection of wafer or LCD need high speed and long travel length for their high throughput and extremely small velocity fluctuations or tracking errors. In order to satisfy these conditions, linear motor system are widely used because they have large thrust force and do not need motion conversion mechanisms such as ball screw, rack & pinion or capstan with which the system are burdened. However linear motors have a problem called force ripple. Force ripple deteriorates the tracking performances and makes periodic position errors. So, force ripple must be compensated. To maximize the tracking performance of linear motor system, we propose the control scheme which is composed of a robust control method, Time Delay Controller (TDC) and a feedforward control method, Zero Phase Error Tracking Control (ZPETC) for accurate tracking a given trajectory and an adaptive force ripple compensation (AFC) algorithm fur estimating and compensating force ripple. The adaptive ripple compensation is continuously refined on the basis of tracking error. Computer simulation results based on modeled parameters verify the effectiveness of the proposed control scheme for high-speed, long stroke and high precision scanning motion and show that the proposed control scheme can achieve a sup error tracking performance in comparison to conventional TDC control.
Keywords
Time delay control; Force ripple; Linear Motor; Adaptive control;
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