Modeling of a linear motor feed drive including pre-rolling friction and aperiodic cogging and ripple

Villegas, Fernando; Hecker, Rogelio L.; Peña, Miguel; Vicente, Diego; Flores, Gustavo M.

doi:10.1007/s00170-014-5795-6

Cited by 25 publications

(21 citation statements)

References 27 publications

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“…As each motor works independently, it is intended to track-control every motor independently. The model of the linear motor direct drive feed system is established according to its work principle [11,18]. The equation, which governs the movement of the linear motor, is a second order mass-damping equation:…”

Section: System Descriptionmentioning

confidence: 99%

On the sliding mode control for precision machining

Rodriguez¹,

Ibeas²,

Kollár³

2020

eis

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Precision machining uses linear motor actuators in order to deal with robustness and stability in the broad range of cutting conditions. Those systems are demanding more sophisticated control algorithms in order to fulfil each time more exigent tolerances in the tendency to miniaturization of products and to face more robust dynamics. Sliding mode control family is natural approach to cope with mass and damping variation and external disturbances which are inherent characteristics of cutting processes. This paper compares conventional and super-twisting sliding mode controls on keeping the closed loop dynamics within requirements and reject disturbances created by the cutting forces.

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Section: System Descriptionmentioning

confidence: 99%

On the sliding mode control for precision machining

Rodriguez¹,

Ibeas²,

Kollár³

2020

eis

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“…Linear motor model The model of the linear motor direct drive feed system is established according to its work principle [4,5]. The equations which govern the movement of the linear motor are considered to be modelled by the second order mass-damping equation:…”

Section: System Modellingmentioning

confidence: 99%

P-PI and super twisting sliding mode control schemes comparison for high-precision CNC machining

Rubio

Ibeas

Luo

2016

2016 24th Iranian Conference on Electrical Engineering (ICEE)

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This version is available at https://strathprints.strath.ac.uk/55806/ Strathprints is designed to allow users to access the research output of the University of Strathclyde. Unless otherwise explicitly stated on the manuscript, Copyright © and Moral Rights for the papers on this site are retained by the individual authors and/or other copyright owners. Please check the manuscript for details of any other licences that may have been applied. You may not engage in further distribution of the material for any profitmaking activities or any commercial gain. You may freely distribute both the url (https://strathprints.strath.ac.uk/) and the content of this paper for research or private study, educational, or not-for-profit purposes without prior permission or charge.Any correspondence concerning this service should be sent to the Strathprints administrator: strathprints@strath.ac.ukThe Strathprints institutional repository (https://strathprints.strath.ac.uk) is a digital archive of University of Strathclyde research outputs. It has been developed to disseminate open access research outputs, expose data about those outputs, and enable the management and persistent access to Strathclyde's intellectual output. Abstract-Multi-axis high precision machining uses linear motors actuators in order to deal with robustness and stability in the broad range of cutting conditions. Currently, Computer Numerical Controls (CNCs) integrate PID type controllers in order to deal with tracking errors and disturbances. Moreover, CNCs introduce feed-forward control loop to cope with model variations. However, to overcome the influences of disturbances and model uncertainties natural control approach is adopted by sliding mode controller (SMC). This paper proposes a supertwisting sliding mode control algorithm to cope with the switching control for keeping the dynamics of the system within the designed requirements. Furthermore, the paper compares the behaviour of P-PI position-velocity control approach and supertwisting SMC. The implementation and evaluation of the algorithms in Matlab shows that super-twisting SMC is able to track the reference signal more accurate and robustness against the estimated processing parameters and disturbances. The main source of instability in sliding mode controller knowing as chattering is minimized when applied the super-twisting control algorithm.

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“…However, in iron-core linear motors, the time constant is not so small due to the large inductance associated with the iron core, 9 and although particular iron-core linear motors are shown to have electrical bandwidths on the order of kilohertz, 16 there are other cases in which bandwidths below the 100 Hz have been reported. 17 This has a negative impact on tracking error, as the existence of unmodeled actuator dynamics in a system is able to degrade control performance. For instance, for sliding mode controllers, unmodeled actuator dynamics can lead to chattering, with lower tracking accuracy, excitation of unmodeled high-frequency dynamics, and even system instability.…”

Section: Introductionmentioning

confidence: 99%

“…9 This might not be enough to represent current loop dynamics in a setup where the only possible control action is the current reference of a commercial current controller. 17 Therefore, this work seeks to approach motion control for a setup including a commercial current controller and a permanent magnet linear synchronous motor (PMLSM) like the one in the work by Villegas et al, 17 where electrical dynamics is represented by a second-order linear time-invariant (LTI) system.…”

Section: Introductionmentioning

confidence: 99%

Deterministic robust control design for an iron core linear drive including second-order electrical dynamics

Villegas

Hecker

Peña

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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This work proposes a deterministic robust controller to improve tracking performance for a linear motor, taking into account the electrical dynamics imposed by a commercial current controller. The design is split in two parts by means of the backstepping technique, in which the first part corresponds to a typical deterministic robust controller, neglecting the electrical dynamics. In the second part, a second-order electrical dynamics is considered using a particular state transformation. There, the proposed control law is composed of a term to compensate the known part of the model and a robust control term to impose a bound on the effect of uncertainties on tracking error. Stability and boundedness results for the complete controller are given. To this effect, a general result on boundedness and stability of nonlinear systems with conditionally bounded state variables is derived first. Finally, experimental results for the complete controller show an improvement on tracking error of up to 31.7% when compared with the results from the typical controller that neglects the electrical dynamics.

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Modeling of a linear motor feed drive including pre-rolling friction and aperiodic cogging and ripple

Cited by 25 publications

References 27 publications

On the sliding mode control for precision machining

On the sliding mode control for precision machining

P-PI and super twisting sliding mode control schemes comparison for high-precision CNC machining

Deterministic robust control design for an iron core linear drive including second-order electrical dynamics

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