Consideration on control method of the large-sized gantry-type linear motor slider

Ojiro, Tetsuya; Honda, Hideki; Hanamoto, Tsuyoshi; Tsuruta, Kazuhiro

doi:10.1109/icma.2017.8015987

Cited by 2 publications

(5 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…(4) can be divided into force references of each mover F 1 and F 2 to give Eqs. (5) and (6) [14,15].…”

Section: Methodsmentioning

confidence: 99%

“…. (15) where K py and K pp are velocity proportional gains each, J y and J p are inertias in yawing direction and in pitching direction, respectively. By taking vibration suppression into consideration to Eqs.…”

Section: Control Methodsmentioning

confidence: 99%

“…However, these methods are not practical because each of the devices has different distortion and each should be measured individually in advance. Therefore, authors proposed a control method which suppresses the repulsive force and does not require measurement of distortion [14,15] (called control method 1 in this paper). It was confirmed that repulsive force was suppressed and machine moved safely.…”

Section: Introductionmentioning

confidence: 99%

“…Hence, this research analyzes this vibration and states that it is important to consider multi-degree of freedom vibration, which means yawing vibration and pitching vibration of the large-sized gantry type linear motor slider. [7,14,15] The experimental equipment is comprised of two sliders arranged in parallel and linked by two attachments and a top bar (Fig. 1).…”

Section: Introductionmentioning

confidence: 99%

“…3. Control Method 1 [14,15] 3.1. Derivation of Control Method 1 Figure 4 shows dynamics of the gantry type linear motor slider, where x is a position response of the centerof-mass of the top bar, l sy is the length between mover 1 position sensor and mover 2 position sensor, l sy1 is the length from mover 1 position sensor to the center-of-mass, and θ y and τ y are angle of yawing rotation and associated torque around the center-of-mass, respectively.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Consideration of Multi-Degree of Freedom Vibration on Large-Sized Gantry Type Linear Motor Slider

Ojiro¹,

Tachibana²,

Honda³

et al. 2019

JRM

Self Cite

View full text Add to dashboard Cite

Many transport units for large production devices now incorporate large-sized gantry type linear motor sliders comprising two parallel linear sliders linked by a joint table. This type of linear motor slider develops a unique mechanical distortion, generating a repulsive force between the two axes that can raise the motor output forces higher than their rated limit. A previous study proposed a method to suppress the repulsive force. However, as feedback gains are set high, force references oscillate and the control system becomes unstable. In past study, yawing vibration suppression methods have been proposed. But, we consider that this vibration is not yawing vibration because the force references include same phase vibration with high gains. Therefore, the modal analysis is performed to analyze this vibration. As a result, it was found that the pitching vibration of the slider was greatly affected. This paper considers this vibration phenomenon, and suppression of the vibration by control method which is similar to impedance control is presented. Hence, it is shown that considering multi-degree of freedom vibration which means yawing vibration and pitching vibration included is important in order to control the large-sized gantry type linear motor sliders.

show abstract

“…(4) can be divided into force references of each mover F 1 and F 2 to give Eqs. (5) and (6) [14,15].…”

Section: Methodsmentioning

confidence: 99%

Section: Control Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Consideration of Multi-Degree of Freedom Vibration on Large-Sized Gantry Type Linear Motor Slider

Ojiro¹,

Tachibana²,

Honda³

et al. 2019

JRM

Self Cite

View full text Add to dashboard Cite

show abstract

High precision control model of large-sized gantry-type linear motor slider

Ojiro

Tachibana²,

Honda

et al. 2020

Robomech J

View full text Add to dashboard Cite

Large-sized gantry-type linear motor sliders are widely used in industry (e.g. in liquid crystal panel production equipment). An appropriate control model is important for deriving control methods to improve control performance. Although various control models of large-sized gantry-type linear motor sliders have been developed in previous studies, no results are yet reported regarding control models which precisely reproduce characteristics of a large-sized gantry-type linear motor slider. In general, a method to derive a transfer function by using frequency responses can be employed to obtain an accurate control model, however, large sized gantry-type linear motor sliders have unique characteristics, namely “distortion” and “coupling”, thus the transfer function derived using only the frequency response cannot reproduce the experimental results with high accuracy. In this paper we report on a method to obtain a highly precise control model of a large sized gantry-type linear motor slider.

show abstract

Consideration on control method of the large-sized gantry-type linear motor slider

Cited by 2 publications

References 5 publications

Consideration of Multi-Degree of Freedom Vibration on Large-Sized Gantry Type Linear Motor Slider

Consideration of Multi-Degree of Freedom Vibration on Large-Sized Gantry Type Linear Motor Slider

High precision control model of large-sized gantry-type linear motor slider

Contact Info

Product

Resources

About