Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2003.9.1.082

Robust Motion Controller Design for Flexible XY Positioning Systems  

김봉근 (University of California at Berkeley, 기계공학과)
박상덕 ((재)포항산업과학연구원 기전연구팀)
정완균 (포항공과대학교 기계공학과)
염영일 (포항공과대학교 기계공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.9, no.1, 2003 , pp. 82-89 More about this Journal
Abstract
A robust motion control method is proposed fur the point-to-point position control of a XY positioning system which consists of a base cart, elastic ben and moving mass. The horizontal motion controller consists of the feedforward controller to suppress the single mode vibration of the elastic beam and the feedback controller to get the high-accuracy positioning performance of the base cart. Input preshaping vibration suppression method based on system modeling with analytic frequency equation is proposed and integrated into the robust internal-loop compensator(RIC) to increase the robustness of the whole closed-loop system The vertical motion controller is proposed based on the dual RIC structure. Through experiments, it is shown that the proposed method can stabilize the system and suppress the vibration in the presence of uncertainties and disturbances.
Keywords
robust internal-loop compensator; input preshaping; flexible XY positioning system; residual vibration suppression;
Citations & Related Records
연도 인용수 순위
  • Reference
1 H. A. Zhu, G. S. Hong, C. L. Teo, and A. N. Poo, 'Internal model control with enhanced robustness,' Int. J. Systems Sci., Vol. 26, No. 2, pp. 277-293, 1995   DOI   ScienceOn
2 B.-K. Choi, C.-H. Choi, and H. Im, 'Model-based disturbance attenuation for CNC machining centers in cutting process,' IEEE/ASME Trans. Mechatronics, Vol. 4, No. 2, pp. 157-168, 1999   DOI   ScienceOn
3 B. K. Kim, W. K. Chung, H. T. Choi, I. H. Suh, and Y. H. Chang, 'Robust optimal internal loop compensator design for motion control of precision linear motor,' Proc. 1999 IEEE Int. Symposium on Industrial Electronics, pp. 1045-1050, 1999   DOI
4 B. K. Kim, H. T. Choi, W. K. Chung, I. H. Suh, H. S. Lee, and Y. H. Chang, 'Robust time optimal controller design for HDD,' IEEE Trans. Magnetics, Vol. 35, No. 5, pp. 3598-3600, 1999   DOI   ScienceOn
5 B. K. Kim and W. K. Chung, 'Unified analysis and design of robust disturbance attenuation algorithms using inherent structural equivalence,' Proc. 2001 American Control Conf., pp. 4046-4051, 2001   DOI
6 M. J. Corless and G. Leitmann, 'Continuous state feedback guaranteeing uniform boundedness for uncertain dynamic systems,' IEEE Trans. Automatic Control, Vol. 26, No. 5, pp. 1139-1144, 1981   DOI
7 B. K. Kim and W. K. Chung, 'Performance predictable design of robust motion controllers for high-precision servo systems,' Proc. 2001 American Control Conf., pp. 2249-2254, 2001   DOI
8 N. C. Singer and W. P. Seering, 'Preshaping command inputs to reduce system vibration,' ASME J. of Dyn. Syst., Meas. and Contr., Vol. 112, pp. 76-82, 1990   DOI
9 H. K. Khalil, Nonlinear Systems, Macmillan, 1992
10 C. L. Teo, C. J. Ong, and M. Xu, 'Pulse input sequences for residual vibration reduction,' J. of Sound and Vibration, Vol. 211, No. 2, pp. 157-177, 1998   DOI   ScienceOn
11 B. K. Kim and W. K. Chung, 'Performance tuning of sliding mode controllers: Structural analysis approach,' Proc. 2001 American Control Conf., pp. 1513-1518, 2001   DOI
12 B. K. Kim and W. K. Chung, 'Advanced design of disturbance observer for high performance motion control systems,' in Proc. 2002 American Control Conf., 2002   DOI
13 B. Yao, M. Al-Majed, and M. Tomizuka, 'High performance robust motion control of machine tools: An adaptive robust control approach and comparative experiments,' IEEE/ASME Trans. Mechatronics, Vol. 2, No. 2, pp. 63-76, 1997   DOI   ScienceOn
14 S. Park, W. K. Chung, Y. Youm, and J. W. Lee, 'Natural frequencies and open-loop responses of an elastic beam fixed on a moving cart and carrying an intermediate lumped mass,' J. of Sound and Vibration, Vol. 230, No. 3, pp. 591-615, 2000   DOI   ScienceOn
15 W.-H. Chen, D. J. Ballance, P. J. Gawthrop, and J. O'Reily, 'A nonlinear disturbance observer for robotic manipulators,' IEEE Trans. Industrial Electronics, Vol. 47, No. 4, pp. 932-938, 2000   DOI   ScienceOn
16 S. Park and Y. Youm, 'Motion of a moving elastic beam carrying a moving mass-analysis and experimental verification,' J. of Sound and Vibration, Vol. 240, No. 1, pp. 131-157, 2001   DOI   ScienceOn
17 M. Nakao, K. Ohnishi, and K. Miyachi, 'A robust decentralized joint control based on interference estimation,' Proc. 1987 IEEE Int. Conf. on Robotics and Automation, pp. 326-331, 1987   DOI
18 B. K. Kim, W. K. Chung, and I. H. Suh, 'Robust synchronizing motion control of twin-servo systems based on network modeling,' Proc. 2000 IEEE Int. Conf. on Decision and Control, pp. 1019-1024, 2000   DOI