scholarly journals Observer-Based Tracking Control for Polysolenoid Linear Motor with Unknown Disturbance Load

Actuators ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 23 ◽  
Author(s):  
Hong Quang Nguyen
Keyword(s):  
Tracking Control ◽  
Direct Method ◽  
Tracking Error ◽  
Linear Motor ◽  
Lyapunov Direct Method ◽  
Mechanical Motion ◽  
Linear Motors ◽  
Permanent Magnet Linear Motor ◽  
Unknown Disturbance ◽  
Velocity Tracking

Linear motors have been playing a crucial role in mechanical motion systems due to its ability to provide a straight motion directly without mediate mechanical actuators. This paper investigates tracking control problems of Polysolenoid Linear Motor, which is a particular type of permanent magnet linear motor in a tubular structure. In order to deal with unmeasurable velocity, our method proposes a novel observer guaranteed asymptotic convergence of the observer errors. Then, based on observed velocity, our method proposes controllers for position-velocity and current tracking control concerning an unknown disturbance load problem by using Lyapunov direct method. The proposed controllers ensure that the position-velocity tracking error converges to arbitrarily small values by adjusting control parameters. Finally, the validity and effectiveness of our approach are shown in illustrative examples.

scholarly journals Fuzzy-Set Theory Based Optimal Robust Design for Position Tracking Control of Permanent Magnet Linear Motor

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 153829-153841
Author(s):  
Xiaoli Liu ◽  
Shengchao Zhen ◽  
Han Zhao ◽  
Hao Sun ◽  
Ye-Hwa Chen
Keyword(s):  
Permanent Magnet ◽  
Set Theory ◽  
Robust Design ◽  
Fuzzy Set ◽  
Fuzzy Set Theory ◽  
Tracking Control ◽  
Linear Motor ◽  
Position Tracking ◽  
Permanent Magnet Linear Motor ◽  
Position Tracking Control

scholarly journals Contour Tracking Control of a Linear Motors-Driven X-Y-Y Stage Using Auto-Tuning Cross-Coupled 2DOF PID Control Approach

2020 ◽  
Vol 10 (24) ◽  
pp. 9036
Author(s):  
Syuan-Yi Chen ◽  
Zi-Jie Chien ◽  
Wei-Yen Wang ◽  
Hsin-Han Chiang
Keyword(s):  
Tracking Control ◽  
Optimization Technique ◽  
Tracking Error ◽  
Experimental Comparison ◽  
Contour Tracking ◽  
Control Approach ◽  
Linear Motors ◽  
Contour Control ◽  
Comparison Results ◽  
Auto Tuning

Linear motors (LMs) are widely used in numerous industry automation where precise and fast motions are required to convert electric energy into linear actuation without the need of any switching mechanism. This study aims to develop a control strategy of auto-tuning cross-coupled two-degree-of-freedom proportional-integral-derivative (ACC2PID) to achieve extremely high-precision contour control of a LMs-driven X-Y-Y stage. Three 2PID controllers are developed to control the mover positions in individual axes while two compensators are designed to eliminate the contour errors in biaxial motions. Furthermore, an improved artificial bee colony algorithm is employed as a powerful optimization technique so that all the control parameters can be concurrently evaluated and optimized online while ensuring the non-fragility of the proposed controller. In this way, the tracking error in each axis and contour errors of the biaxial motions can be concurrently minimized, and further, satisfactory positioning accuracy and synchronization performance can be achieved. Finally, the experimental comparison results confirm the validity of the proposed ACC2PID control system regarding the multi-axis contour tracking control of the highly uncertain and nonlinear LMs-driven X-Y-Y stage.

scholarly journals Adaptive Fuzzy Fast Finite-Time Tracking Control for Nonlinear Systems in Pure-Feedback Form with Unknown Disturbance

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Ke Xu ◽  
Huanqing Wang ◽  
Xiaoping Liu ◽  
Ming Chen
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Tracking Control ◽  
Tracking Error ◽  
Adaptive Fuzzy Control ◽  
Small Neighborhood ◽  
Mean Value Theorem ◽  
Feedback Form ◽  
Adaptive Fuzzy ◽  
Unknown Disturbance

In this paper, based on the fast finite-time stability theorem, an adaptive fuzzy control problem is considered for a class of nonlinear systems in pure-feedback form with unknown disturbance. In the controller design process, the mean value theorem is applied to address the nonaffine structure of the pure-feedback plant, the universal approximation capability of the fuzzy logic system (FLS) is utilized to compensate the unknown uncertainties, and the adaptive backstepping technique is used to design the controller model. Combined with the selection of the appropriate Lyapunov function at each step, a fuzzy-based adaptive tracking control scheme is proposed, which ensures that all signals in the closed-loop system are bounded and tracking error converges to a small neighborhood of the origin in fast finite-time. Finally, simulation results illustrate the validity of the proposed approach.

Dynamic Magnetic Circuit Modelling of Permanent Magnet Linear Motor Including End-Effects

2015 ◽  
Vol 8 (3) ◽  
pp. 315 ◽  
Author(s):  
Marko Huikuri ◽  
Markku Niemelä ◽  
Juha J. Pyrhönen
Keyword(s):  
Permanent Magnet ◽  
Magnetic Circuit ◽  
Linear Motor ◽  
End Effects ◽  
Permanent Magnet Linear Motor ◽  
Circuit Modelling

scholarly journals Velocity and acceleration level inverse kinematic calculation alternatives for redundant manipulators

Meccanica ◽  
2021 ◽  
Author(s):  
Dóra Patkó ◽  
Ambrus Zelei
Keyword(s):  
Degrees Of Freedom ◽  
Direct Method ◽  
Tracking Error ◽  
Inverse Kinematic ◽  
Linear Feedback ◽  
Joint Position ◽  
Stability Properties ◽  
Acceleration Level ◽  
Error Elimination ◽  
The Stability

AbstractFor both non-redundant and redundant systems, the inverse kinematics (IK) calculation is a fundamental step in the control algorithm of fully actuated serial manipulators. The tool-center-point (TCP) position is given and the joint coordinates are determined by the IK. Depending on the task, robotic manipulators can be kinematically redundant. That is when the desired task possesses lower dimensions than the degrees-of-freedom of a redundant manipulator. The IK calculation can be implemented numerically in several alternative ways not only in case of the redundant but also in the non-redundant case. We study the stability properties and the feasibility of a tracking error feedback and a direct tracking error elimination approach of the numerical implementation of IK calculation both on velocity and acceleration levels. The feedback approach expresses the joint position increment stepwise based on the local velocity or acceleration of the desired TCP trajectory and linear feedback terms. In the direct error elimination concept, the increment of the joint position is directly given by the approximate error between the desired and the realized TCP position, by assuming constant TCP velocity or acceleration. We investigate the possibility of the implementation of the direct method on acceleration level. The investigated IK methods are unified in a framework that utilizes the idea of the auxiliary input. Our closed form results and numerical case study examples show the stability properties, benefits and disadvantages of the assessed IK implementations.

Tracking Control of a Linear Motor Positioner based on Barrier Function Adaptive Sliding Mode

2021 ◽  
pp. 1-1
Author(s):  
Ke Shao ◽  
Jinchuan Zheng ◽  
Hai Wang ◽  
Xueqian Wang ◽  
Renquan Lu ◽  
...  
Keyword(s):  
Barrier Function ◽  
Tracking Control ◽  
Sliding Mode ◽  
Linear Motor ◽  
Adaptive Sliding Mode

scholarly journals A new method of phase-shifting and displacement of unit motor to suppress the thrust fluctuation of linear motor

2021 ◽  
Vol 13 (4) ◽  
pp. 168781402110087
Author(s):  
Feng Zhou ◽  
Han Zhao ◽  
Xiaoke Liu ◽  
Fujia Wang
Keyword(s):  
Permanent Magnet ◽  
Linear Motor ◽  
Phase Shifting ◽  
New Method ◽  
Analysis Model ◽  
End Effects ◽  
Element Analysis ◽  
Suppression Effect ◽  
Permanent Magnet Linear Motor ◽  
Thrust Fluctuation

Permanent magnet linear motors can cause thrust fluctuation due to cogging and end effects, which will affect the operation stability of the linear motor. In order to solve this problem, a new method of eliminating alveolar force by using phase-shifting and displacement is proposed in this paper. Taking the cylindrical permanent magnet linear motor as an example, the traditional cylindrical permanent magnet linear motor is divided into two unit-motors, and established finite element analysis model of cylindrical permanent magnet linear motor. It is different from other traditional methods, the thrust fluctuation was reduced by both phase-shifting and displacement simultaneously in this paper, and through simulation analysis, it is determined that the thrust fluctuation suppression effect was the best when the cogging distance was shifted by half. Furthermore, a comparative simulation was made on whether the magnetic insulating material was used. The simulation results show that: The method proposed in this paper can effectively suppress the thrust fluctuation of the cylindrical permanent magnet linear motor. And it can be applied to other similar motor designs. Compared with the traditional method of suppressing thrust fluctuation, the mechanical structure and the technological process of suppressing thrust fluctuation used in this method are simpler.

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