High-Precision Motion Control for a Linear Permanent Magnet Iron Core Synchronous Motor Drive in Position Platform

The high precision motion tracking controller consisting of a linear permanent magnet iron core synchronous motor (LPMICSM) operating on a positioning platform is proposed. First, we address important issues related to the construction and driving theorem of the LPMICSM. Next the general system dynamic model is derived and analyzed. Then, because of the uncertainties and unknown parameters of the underlying system, a discrete adaptive sliding-mode (DASM) controller is proposed to guarantee system stability for both regulation and tracking tasks. Finally, according to the reported experimental results, the satisfactory performances including step regulation and tracking sinusoid, has been achieved. Therefore, the proposed control method is feasible and effective in high-precision motion control of LPMICSM.

[1]  Bin Yao,et al.  Adaptive Robust Precision Motion Control of a Piezoelectric Positioning Stage , 2008, IEEE Transactions on Control Systems Technology.

[2]  Qingsong Xu,et al.  Adaptive Sliding Mode Control With Perturbation Estimation and PID Sliding Surface for Motion Tracking of a Piezo-Driven Micromanipulator , 2010, IEEE Transactions on Control Systems Technology.

[3]  Z N Mevawalla,et al.  Neural Network Modeling for Advanced Process Control Using Production Data , 2011, IEEE Transactions on Semiconductor Manufacturing.

[4]  Asif Sabanoviç,et al.  Variable Structure Systems With Sliding Modes in Motion Control—A Survey , 2011, IEEE Transactions on Industrial Informatics.

[5]  Bin Yao,et al.  Adaptive Robust Precision Motion Control of a High-Speed Industrial Gantry With Cogging Force Compensations , 2011, IEEE Transactions on Control Systems Technology.

[6]  Maria Letizia Corradini,et al.  Minimal Resource Allocating Networks for Discrete Time Sliding Mode Control of Robotic Manipulators , 2012, IEEE Transactions on Industrial Informatics.

[7]  Kay Soon Low,et al.  A Repetitive Model Predictive Control Approach for Precision Tracking of a Linear Motion System , 2009, IEEE Transactions on Industrial Electronics.

[8]  Kok-Meng Lee,et al.  High-Acceleration Precision Point-to-Point Motion Control With Look-Ahead Properties , 2011, IEEE Transactions on Industrial Electronics.

[9]  Fang Lin Luo,et al.  Robust and precision motion control system of linear-motor direct drive for high-speed X-Y table positioning mechanism , 2005, IEEE Transactions on Industrial Electronics.

[10]  Mitsuo Hirata,et al.  Servo Performance Enhancement of Motion System via a Quantization Error Estimation Method—Introduction to Nanoscale Servo Control , 2009, IEEE Transactions on Industrial Electronics.

[11]  Qingfeng Wang,et al.  Adaptive Robust Precision Motion Control of Systems With Unknown Input Dead-Zones: A Case Study With Comparative Experiments , 2011, IEEE Transactions on Industrial Electronics.

[12]  Faa-Jeng Lin,et al.  Adaptive backstepping sliding mode control for linear induction motor drive , 2002 .

[13]  Srdjan M. Lukic,et al.  State-Switching Control Technique for Switched Reluctance Motor Drives: Theory and Implementation , 2010, IEEE Transactions on Industrial Electronics.

[14]  Yuxin Su,et al.  Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors , 2005, IEEE Transactions on Industrial Electronics.

[15]  S. Billings,et al.  Analysis and design of variable structure systems using a geometric approach , 1983 .

[16]  Mei-Yung Chen,et al.  Design and Implementation of a New Six-DOF Maglev Positioner With a Fluid Bearing , 2011, IEEE/ASME Transactions on Mechatronics.

[17]  Chan-Bae Park,et al.  Improvement of Thrust Force Properties of Linear Synchronous Motor for an Ultra-High-Speed Tube Train , 2011, IEEE Transactions on Magnetics.

[18]  Andrew G. Alleyne,et al.  A High Precision Motion Control System With Application to Microscale Robotic Deposition , 2006, IEEE Transactions on Control Systems Technology.

[19]  Asif Sabanoviç,et al.  Sliding-Mode Control for High-Precision Motion of a Piezostage , 2007, IEEE Transactions on Industrial Electronics.

[20]  YangQuan Chen,et al.  State-periodic adaptive compensation of cogging and Coulomb friction in permanent magnet linear motors , 2005, Proceedings of the 2005, American Control Conference, 2005..

[21]  Xiangjie Liu,et al.  H-Infinity State Feedback Control for a Class of Networked Cascade Control Systems With Uncertain Delay , 2010, IEEE Transactions on Industrial Informatics.

[22]  Li Xu,et al.  Adaptive robust precision motion control of linear motors with negligible electrical dynamics: theory and experiments , 2001, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[23]  Shihua Li,et al.  Fuzzy Adaptive Internal Model Control Schemes for PMSM Speed-Regulation System , 2012, IEEE Transactions on Industrial Informatics.

[24]  Chia-Hsiang Menq,et al.  Control of a Magnetic-Suspension Stage , 2003 .

[25]  M. Tomizuka,et al.  Projection-Based Iterative Learning Control for Wafer Scanner Systems , 2009, IEEE/ASME Transactions on Mechatronics.

[26]  Chia-Hsiang Menq,et al.  Large travel ultra precision x-y-/spl theta/ motion control of a magnetic-suspension stage , 2003 .

[27]  Douglas A. Bristow,et al.  Vision based Iterative Learning Control of a MEMS micropositioning stage with intersample estimation and adaptive model correction , 2011, Proceedings of the 2011 American Control Conference.

[28]  Bin Yao,et al.  A Globally Stable High-Performance Adaptive Robust Control Algorithm With Input Saturation for Precision Motion Control of Linear Motor Drive Systems , 2007 .

[29]  Christoph Ament,et al.  High Precision Position Control Using an Adaptive Friction Compensation Approach , 2010, IEEE Transactions on Automatic Control.

[30]  Shih-Kang Kuo,et al.  Modeling and control of a six-axis precision motion control stage , 2005, IEEE/ASME Transactions on Mechatronics.

[31]  Ding Yuan,et al.  Matched Feedforward/Model Reference Control of a High Precision Robot With Dead-Zone , 2008, IEEE Transactions on Control Systems Technology.

[32]  Andrew G. Alleyne,et al.  A Cross-Coupled Iterative Learning Control Design for Precision Motion Control , 2008, IEEE Transactions on Control Systems Technology.

[33]  Si-Lu Chen,et al.  Modeling and Compensation of Ripples and Friction in Permanent-Magnet Linear Motor Using a Hysteretic Relay , 2010, IEEE/ASME Transactions on Mechatronics.

[34]  Du-Ming Tsai,et al.  Mean Shift-Based Defect Detection in Multicrystalline Solar Wafer Surfaces , 2011, IEEE Transactions on Industrial Informatics.

[35]  Tzuo-Bo Lin,et al.  Design and Experiment of a Macro–Micro Planar Maglev Positioning System , 2012, IEEE Transactions on Industrial Electronics.

[36]  Weng Khuen Ho,et al.  Integral-Square-Error Performance of Multiplexed Model Predictive Control , 2011, IEEE Transactions on Industrial Informatics.

[37]  C.Y. Chan.  Discrete adaptive sliding-mode tracking controller , 1997, Autom..

[38]  Maarten Steinbuch,et al.  Adaptive Iterative Learning Control for High Precision Motion Systems , 2008, IEEE Transactions on Control Systems Technology.