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Coordinated adaptive robust contouring control of an industrial biaxial precision gantry with cogging force compensations / Hu, Chuxiong in IEEE transactions on industrial electronics, Vol. 57 N° 5 (Mai 2010) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 57 N° 5 (Mai 2010) . - pp. 1746 - 1754 Titre : Coordinated adaptive robust contouring control of an industrial biaxial precision gantry with cogging force compensations Type de document : texte imprimé Auteurs : Hu, Chuxiong, Auteur ; Yao, Bin, Auteur ; Wang, Qingfeng, Auteur Année de publication : 2011 Article en page(s) : pp. 1746 - 1754 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Adaptive  control  Cogging  force  Contouring  control  Linear  motor Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : Cogging force is an important source of disturbances for linear-motor-driven systems. To obtain a higher level of contouring motion control performance for multiaxis mechanical systems subject to significant nonlinear cogging forces, both the coordinated control of multiaxis motions and the effective compensation of cogging forces are necessary. In addition, the effect of unavoidable velocity measurement noises needs to be sufficiently attenuated. This paper presents a discontinuous-projection-based desired compensation adaptive robust contouring controller to address these control issues all at once. Specifically, the presented approach explicitly takes into account the specific characteristics of cogging forces in the controller designs and employs the task coordinate formulation for coordinated motion controls. Theoretically, the resulting controller achieves a guaranteed transient performance and a steady-state contouring accuracy even in the presence of both parametric uncertainties and uncertain nonlinearities. In addition, the controller also achieves asymptotic output tracking when there are parametric uncertainties only. Comparative experimental results obtained on a high-speed Anorad industrial biaxial precision gantry are presented to verify the excellent contouring performance of the proposed control scheme and the effectiveness of the cogging force compensations. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5226579 [article] Coordinated adaptive robust contouring control of an industrial biaxial precision gantry with cogging force compensations [texte imprimé] / Hu, Chuxiong, Auteur ; Yao, Bin, Auteur ; Wang, Qingfeng, Auteur . - 2011 . - pp. 1746 - 1754. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 57 N° 5 (Mai 2010) . - pp. 1746 - 1754 Mots-clés : Adaptive  control  Cogging  force  Contouring  control  Linear  motor Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : Cogging force is an important source of disturbances for linear-motor-driven systems. To obtain a higher level of contouring motion control performance for multiaxis mechanical systems subject to significant nonlinear cogging forces, both the coordinated control of multiaxis motions and the effective compensation of cogging forces are necessary. In addition, the effect of unavoidable velocity measurement noises needs to be sufficiently attenuated. This paper presents a discontinuous-projection-based desired compensation adaptive robust contouring controller to address these control issues all at once. Specifically, the presented approach explicitly takes into account the specific characteristics of cogging forces in the controller designs and employs the task coordinate formulation for coordinated motion controls. Theoretically, the resulting controller achieves a guaranteed transient performance and a steady-state contouring accuracy even in the presence of both parametric uncertainties and uncertain nonlinearities. In addition, the controller also achieves asymptotic output tracking when there are parametric uncertainties only. Comparative experimental results obtained on a high-speed Anorad industrial biaxial precision gantry are presented to verify the excellent contouring performance of the proposed control scheme and the effectiveness of the cogging force compensations. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5226579