Precision Motion Control: Design and Implementation by Tan Kok Kiong PhD, Lee Tong Heng PhD, Dou Huifang PhD, Huang

By Tan Kok Kiong PhD, Lee Tong Heng PhD, Dou Huifang PhD, Huang Sunan PhD (auth.)

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19 . • 000 E -e. ~ ~ & ... 3 000 , 1000 . •- - : I"" . 0 _0) Fig. 18. Tracking error comparison: full-state feedback (with accelerometer) versus conventionally tuned PID controllers (without accelerometer) 40 Precision Motion Control "0 "0 -400 . U 1. ) 5 ,.. 1 ""$ I IS ''''',, (u o) Fig. 19. 4 Ripple Compensation From motion control viewpoints, force ripples are highly undesirable, and yet they are predominantly present in PMLM. They can be minimised or even eliminated by an alternative design of the motor structure or spatial layout of the magnetic materials such as skewing the magnet, optimising the disposition and width of the magnets ete.

7. Velocity ({lm/ s) against position ({lm) for different step voltages 2. Precision Tracking Motion Control 21 Due to the direct-drive principle behind the operation of a linear motor, the force ripple has significant effects on the position accuracy achievable and it mayaiso cause oscillations and yield stability problems, particularly at low velocities or with a light load (low momentum). Fig. 6 shows the real-time open-loop step response of a tubular type PMLM manufactured by Linear Drive, UK.

8) can thus be alternatively described by: .. x Let K1 . = - MX + KM 2 U - 1 F. M load + F*(·) 1 X, X . 9) 2. 1 Feeaforward Contral i 1,1 k,e(~ +k, e(~)dr+kte(~ Unear Motor • Fig. 9. 11) f (x, x) is assumed to be a smooth non-linear function which may be unknown. To this end, it may be pointed out, however, that many discontinuous nonlinear functions may be adequately approximated by a continuous one. 13) dt Ja e(t)dt = e, I; the system state variables are assigned as Xl = e(t)dt, X2 = e and X3 = e.

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