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http://dx.doi.org/10.7736/KSPE.2012.29.10.1110

Development of Improved 5th Order Motion Profile for Low Vibration and High Speed  

So, Byeong-Kwan (Department of Mechanical System Design Eng., Seoul National Univ. of Sci. & Tech.)
Tae, Won-Hyeong (Department of Mechanical System Design Eng., Seoul National Univ. of Sci. & Tech.)
Kim, Jung-Han (Department of Mechanical System Design Eng., Seoul National Univ. of Sci. & Tech.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.29, no.10, 2012 , pp. 1110-1118 More about this Journal
Abstract
In this study, for reducing the residual vibration in high speed motion control stage, an improved 5th order polynomial motion profile was developed. When a stage is moving, the current through the motor coils has the same profile of input motion profile of acceleration, therefore the characteristics of the acceleration input profile directly affect on the performance of the amplifier that includes the current control loop. Commonly low cost amplifier and motor has a narrow current control bandwidth, therefore the proposed algorithm was designed based on this practical constraint. Simulation and experimental results showed that the proposed algorithm clearly has low residual vibration characteristics than conventional 5th order polynomial motion profile on the same drive condition.
Keywords
5th Order Motion Profile; Precision Tracking Control; Jerk Profile; Current Control Loop;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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