4.7 Article

Identification and Compensation of Nonlinear Friction Characteristics and Precision Control for a Linear Motor Stage

期刊

IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 18, 期 4, 页码 1385-1396

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2012.2202679

关键词

Disturbance observer (DO); genetic algorithm (GA); linear servomotor; particle swarm optimization (PSO); variable structure control (VSC)

资金

  1. National Science Council of Taiwan [NSC 100-2221-E-027-015, NSC-100-2628-E-167-002-MY3]

向作者/读者索取更多资源

The main goal of this investigation is to improve the tracking accuracy of the stage of a linear motor. A DC brushless linear motor is used to actuate a gantry stage to perform printing. To compensate for the tracking error of the gantry stage that is associated with nonlinear friction, the dynamics of the nonlinear static friction are formulated using the Hsieh-Pan model. Particle swarm optimization (PSO), genetic algorithm, and real-coded genetic algorithm-based optimization problems are investigated to evaluate the parameters of the nonlinear friction model. The use of PSO-based optimization to tune the parameters of a disturbance-observer-based variable structure controller is also discussed to improve the tracking response. To check the consistency of the proposed controller, it is implemented in real time and an improved positional accuracy better than 0.1 mu m is readily achieved.

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