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28 August 1995 Advanced tracking control of positioning tables
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Proceedings Volume 2620, International Conference on Intelligent Manufacturing; (1995)
Event: International Conference on Intelligent Manufacturing, 1995, Wuhan, China
It is well known that point-to-point positioning can be well achieved by a conventional PID controller. However, precise tracking of preplanned motion trajectories requires more sophisticated model-based control algorithms. This paper presents a study on the design and implementation of precise tracking controllers for positioning tables during high-acceleration high-speed motion. A controller incorporating both acceleration feedforward and robust friction compensation is theoretically analyzed under various operating conditions and model uncertainties. An effective technique for tuning feedback gains was found, allowing the determination of the largest well-damped feedback gains. The control design was tested on an industrial belt-drive high-speed positioning table, and much better results were obtained than those of conventional controllers.
© (1995) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Weiping Li and Manoj Rehani "Advanced tracking control of positioning tables", Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995);


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