Precision motion control of permanent magnet linear synchronous motor servo system based on an integrated controller with inertia variation compensation

2012 ◽  
Vol 227 (7) ◽  
pp. 1481-1494 ◽  
Author(s):  
Zhijun Li ◽  
Chengying Liu ◽  
Fanwei Meng ◽  
Kai Zhou
Keyword(s):  
Permanent Magnet ◽  
Motion Control ◽  
Disturbance Observer ◽  
Phase Error ◽  
Servo System ◽  
Tracking Performance ◽  
Tracking Controller ◽  
Integrated Controller ◽  
Feed Forward Controller ◽  
Zero Phase

To achieve high robustness and precise motion control of permanent magnet linear synchronous motor servo system, an integrated controller is presented, including a velocity feed forward controller, a zero phase error tracking controller, a disturbance observer and inertia variation compensator. The velocity feed forward controller and the zero phase error tracking controller are included to improve tracking performance and the disturbance observer is involved to enhance disturbance rejection. However, both the zero phase error tracking controller and the disturbance observer are sensitive to inertia variation which often occurs in servo systems. So, an inertia compensator, which consists of a perfect tracking controller for the current loop and a compensation gain, is proposed to retain tracking performance. Detailed experiments are conducted on a PMLSM servo system to confirm the effectiveness of the integrated controller.

Closed-Loop Identification and Composed Controller Design for Precise Machining

2010 ◽  
Vol 97-101 ◽  
pp. 3139-3145 ◽  
Author(s):  
Jun Sheng ◽  
Jian Gang Li ◽  
Lei Zhou
Keyword(s):  
Controller Design ◽  
Phase Error ◽  
Control Plant ◽  
Feed Forward ◽  
Tracking Controller ◽  
Position Controller ◽  
Closed Loop Identification ◽  
Derivative Filter ◽  
Feed Forward Controller ◽  
Zero Phase

For a class of three-loop architecture motion control system, two-stage close-loop identification is introduced to estimate the control plant and thus to tune the velocity controller. Based on the estimated model, PID position controller with derivative filter is proposed using pole-zero cancellation and pole assignment. Feed-forward compensators such as Velocity and Acceleration Feed-forward Controller (VAFC), Zero Phase Error Tracking Controller (ZPETC), Zero Magnitude Error Tracking controller (ZMETC) are introduced as well, and their effects are compared.

Zero Phase Robust Control of XY Table Linear Servo System

2013 ◽  
Vol 419 ◽  
pp. 713-717
Author(s):  
Xi Mei Zhao ◽  
Ming Ming Jiang ◽  
Hong Yi Li ◽  
Hao Liu
Keyword(s):  
Disturbance Observer ◽  
Position Control ◽  
Control Method ◽  
Phase Error ◽  
Tracking Error ◽  
Servo System ◽  
Direct Drive ◽  
Tracking Accuracy ◽  
Control Scheme ◽  
Zero Phase

For direct drive XY table servo system, position control is designed. Considering the error which is caused by the disturbance of the system, friction factor and so on. The control method combing the zero phase error tracking controller (ZPETC) with the disturbance observer (DOB) is adopted. The system tracking error is reduced by adopting ZPETC, and through influences of disturbance to the system is diminished by the disturbance observer. Thus the tracking accuracy and robustness of the system are improved. Simulation results show that this control scheme is effective. It can obviously improve the accuracy of the system.

Zero Phase Error Tracking Controllers With Optimal Gain Characteristics

1993 ◽  
Vol 115 (3) ◽  
pp. 311-318 ◽  
Author(s):  
Y. Funahashi ◽  
M. Yamada
Keyword(s):  
Control System ◽  
Phase Error ◽  
Tracking Performance ◽  
Output Data ◽  
Tracking Controllers ◽  
Tracking Controller ◽  
Phase Property ◽  
Feedforward Controller ◽  
Step Type ◽  
Zero Phase

Recently, a digital feedforward controller, called a Zero Phase Error Tracking Controller (ZPETC), has been proposed. In this controller, the overall frequency response between the desired output and the controlled output exhibits zero phase shift for all frequencies by using a few steps of the future desired output data. In this paper, two extensions of ZPETC’s are proposed: a ZPETC with deadbeat tracking performance and an L2-Optimal ZPETC. These ZPETC’s can provide the overall control system with not only the above phase property but also the excellent tracking performance for a desired output and the superior gain property, respectively. Moreover, a ZPETC with both the excellent tracking performance for a step-type and ramp-type desired output and the superior gain property, called an L2-Optimal ZPETC with deadbeat tracking performance, is presented.

Continuous Rotary Motor Electro-Hydraulic Servo System Based on the Zero Phase Error Tracking Controller

2011 ◽  
Vol 121-126 ◽  
pp. 3205-3209
Author(s):  
Xiao Jing Wang ◽  
Jian Ying Li ◽  
Bo Wu ◽  
Jun Peng Shao
Keyword(s):  
Frequency Response ◽  
Phase Error ◽  
Tracking Error ◽  
Servo System ◽  
Servo Motor ◽  
Tracking Controller ◽  
Hydraulic Servo ◽  
Response Performance ◽  
Rotary Motor ◽  
Zero Phase

In order to suppress the friction and leakage interference of continuous rotary electro-hydraulic servo motor, make the motor tracking the periodic signals with high accuracy, and improve the high frequency response performance of continuous rotary electro-hydraulic servo motor, this paper established the mathematic model of the electro-hydraulic position servo system of the continuous rotary motor, and adopted the controlling method based on the zero phase error tracking controller to suppress the interference. Through the simulation, the result confirms that the zero phase error tracking control method decreases the tracking error of the system, increases the robust performance of the system and improves the frequency response performance of continuous rotary electro-hydraulic servo motor. This method is simple and feasible.

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