Direct Drive XY Table Based on Real-time Position Compensation and Repetitive Control

摘要：

The contour accuracy of direct drive XY table driven by the permanent magnet linear synchronous motor (PMLSM) is influenced for time-varying free-form contour following task, end effect and friction of the XY table. To enhance the contouring performance, contour error algorithm applicable for multi-axis nonlinear motion system was adopted. Position error compensator (PEC) was combined to make the contour error approach to zero. A compound control scheme base on combining repetitive controller (RC) and a pseudo derivative feedback with feed-forward (PDFF) speed controller were employed in this paper. Theoretical analysis and simulation results show that the designed control system make XY table possess high performance of contour accuracy and reduce the influence of the periodic disturbances of XY table system.

关键词： Permanent magnet linear synchronous motor Real-time position error compensator Repetitive controller and Pseudo derivative feedback with feed-forward

作者: Li-mei Wang Bing Li

作者单位: Shenyang University of Technology, Shenyang 110870, China Shenyang University of Technology, Shenyang 110870, China Shenyang University of Technology, Shenyan

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 2532-2536

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）