Point-to-point practical controller performance in an experimental two-axes belt driven mechanism

Abstract

Abstract. High accuracy, fast response with no or small overshoot, and robust to object uncertainties are such performance required in a point-to-point positioning system. In order to achieve those performances, a good controller is required. A nominal characteristic trajectory following controller is one type of practical controllers which already has shown it good point-to-point positioning performance. Its structure consists of a nominal characteristic trajectory and a compensator. The design of the controller is based on a simple open loop experiment to construct a nominal characteristic trajectory. Information from nominal characteristic trajectory was then used to design the compensator. This practical approach was implemented in several different controlled objects, but limited to, system with a high stiffness mechanism. In this work, a nominal characteristic trajectory following controller was implemented on a low stiffness mechanism. An experimental two-axes belt driven mechanism was used as a controlled object. The actuator to drive the mechanism was electric motors with integrated encoders. Both axes with different characteristics identified through a simple open loop experiments and nominal characteristic trajectory constructed using speed and position data. A proportional integral compensator is selected in this work and was designed according to information from a nominal characteristic trajectory. In order to evaluate controller performance, point to point operation was conducted through simulation and experiment.