Journal
PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY
Volume 37, Issue 2, Pages 308-322Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.precisioneng.2012.09.009
Keywords
Ball screw drive; Pole-placement; Active damping; Feedforward; Control
Categories
Funding
- NSERC granting agency in Canada
- CFI granting agency in Canada
- OCE granting agency in Canada
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This paper presents a pole-placement technique to achieve active vibration damping, as well as high bandwidth disturbance rejection and positioning, in ball screw drives. The pole-placement approach is simple and effective, with an intuitive physical interpretation, which makes the tuning process straightforward in comparison to existing controllers which actively compensate for structural vibrations. The tracking performance of the drive is improved through feedforward control using inverted plant dynamics and a novel trajectory prefilter. The prefilter is designed to remove tracking error artifacts correlated to the velocity, acceleration, jerk and snap (fourth derivative) of the commanded trajectory. By applying the least-squares method to the data from a single tracking experiment, the prefilter can be tuned quickly and reliably. The proposed controller has been compared to the P-PI position-velocity cascade controller commonly used in industry. The controller design, stability analysis and experimental results are discussed in the paper. (C) 2012 Elsevier Inc. All rights reserved.
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