Abstract
The research realizes a fast and high-precision positioning control for a high acceleration X-Y platform using an embedded motion control system. The control algorithm consists of a PD controller which is designed by pole placement approach to implement the feedback control, a feed forward controller to improve the dynamic performance of the servo mechanical system and a disturbance observer to suppress the external disturbances. The model of the high acceleration platform, which is driven by permanent magnet linear synchronous motors (PMLSMs), is first identified by a time domain relay feedback test. Then, the three parts of the controller are designed based on the identified model. The coefficient quantization error and the computational truncation error are specially considered in the fix-point DSP platform, which makes the implementation feasible to run in the embedded motion system. Experimental results are presented to demonstrate the effectiveness of the proposed control algorithm.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ding, H., Wu, J.: Point-to-point motion control for a high-acceleration positioning table via cascaded learning schemes. IEEE Transactions on Industrial Electronics 54(5), 2735–2744 (2007)
Ding, H., Xiong, Z.: Motion stages for electronic packaging design and control. IEEE Robotics & Automation Magazine 13(4), 51–61 (2006)
Hu, T., Zhang, C., Yang, L., Tan, J.: Engine based embedded control system design and implementation. In: IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA 2008, pp. 469–475. IEEE (2008)
Jamaludin, Z., Van Brussel, H., Swevers, J.: Friction compensation of an xy feed table using friction-model-based feedforward and an inverse-model-based disturbance observer. IEEE Transactions on Industrial Electronics 56(10), 3848–3853 (2009)
Jianhua, W., Jia, L., Zhenhua, X., Han, D.: A relay-based method for servo performance improvement. Mechatronics (2011)
Kang, H., Lee, C., Chung, C., Lee, H.: Control design for self-servo track writing using a state-space disturbance observer. IEEE Transactions on Magnetics 45(11), 5094–5099 (2009)
Lee, H., Tomizuka, M.: Robust motion controller design for high-accuracy positioning systems. IEEE Transactions on Industrial Electronics 43(1), 48–55 (1996)
Liu, Z., Luo, F., Rahman, M.: Robust and precision motion control system of linear-motor direct drive for high-speed xy table positioning mechanism. IEEE Transactions on Industrial Electronics 52(5), 1357–1363 (2005)
Potlapally, R., Ravi, S., Raghunathan, A., Lee, R., Jha, N.: Impact of configurability and extensibility on ipsec protocol execution on embedded processors. In: 19th International Conference on VLSI Design Held Jointly with 5th International Conference on Embedded Systems and Design, p. 6. IEEE (2006)
Scali, C., Marchetti, G., Semino, D.: Relay with additional delay for identification and autotuning of completely unknown processes. Industrial & Engineering Chemistry Research 38(5), 1987–1997 (1999)
Tan, K., Lee, T., Huang, S., Jiang, X.: Friction modeling and adaptive compensation using a relay feedback approach. IEEE Transactions on Industrial Electronics 48(1), 169–176 (2001)
Wu, J., Ding, H.: Iterative learning variable structure controller for high-speed and high-precision point-to-point motion. Robotics and Computer-Integrated Manufacturing 24(3), 384–391 (2008)
Xu, L., Yao, B.: Adaptive robust precision motion control of linear motors with negligible electrical dynamics: theory and experiments. IEEE/ASME Transactions on Mechatronics 6(4), 444–452 (2001)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Liu, C., Liu, J., Wu, J., Xiong, Z. (2012). High Precision Embedded Control of a High Acceleration Positioning System. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7507. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33515-0_54
Download citation
DOI: https://doi.org/10.1007/978-3-642-33515-0_54
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33514-3
Online ISBN: 978-3-642-33515-0
eBook Packages: Computer ScienceComputer Science (R0)