Robust Position Controller Design for Linear Servo Units Used in Noncircular Machining
This paper presents the design and implementation of a robust motion control structure for linear servo units used in noncircular machining. Compared with ball/screw driven system, the controller of the linear motor driven system must provide a high level of disturbance rejection performance, as the system is more sensitive to force disturbances and parameter variations. Thus, in this paper, a robust feedback controller based on disturbance observer is applied to enhance the stiffness and robustness. A magnitude and phase regulating control scheme (MPRC) is proposed to improve the system tracking accuracy, and a simple error feedforward compensator (EFC) further reduces the feedforward control error that result from inaccurate frequency response data. The effectiveness of the proposed controller is demonstrated by experiments.
Xing Ai, Jianfeng Li and Chuanzhen Huang
S.T. Huang et al., "Robust Position Controller Design for Linear Servo Units Used in Noncircular Machining", Materials Science Forum, Vols. 471-472, pp. 755-759, 2004