Rejection of Limit Cycles Induced From Disturbance Observers in Motion Control

Horng, Rong-Hwang; Chou, H.; Lee, An-Chen

doi:10.1109/tie.2006.885119

Cited by 24 publications

(8 citation statements)

References 10 publications

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“…Figures 14 (a) and (b) illustrate the position errors for the MAC I and MAC II, respectively and the performance indexes are also listed in Table 5. In the macroscopic region, the performance of MAC II is better than that of MAC I; however, MAC II with disturbance observer based controller might generate limit cycles which severely decreases positioning accuracy as the system reaches steady-state positioning (26) .…”

Section: Resultsmentioning

confidence: 99%

Dual-Position-Controller Design for the Linear-Motor-Driven Motion System

Huang

Horng

Shih³

et al. 2007

JSDD

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This work develops a dual-controller composed of a macroscopic controller (MAC) and a microscopic controller (MIC) for improving motion precision of a linear-motor-driven motion system. Based on the macroscopic model in which Coulomb friction model is considered, the MAC is designed. In the presliding region however, the MIC design is based on the lineralized microscopic model. Furthermore, a switching algorithm is developed for bumpless transfer in shifting control action between two controllers. Thus, when the table of motion stage moves to the desired position, the control action can be smoothly switched from the MAC to the MIC. The whole system with the proposed dual-controller has the advantage that it serves as a long stroke (coarse stage) and a short stroke (fine stage) to achieve high precision motion control. The experimental results reveal that it totally takes 2.59 seconds to reach the 1000µm target position with the accuracy of one BLU (basic length unit; sensor resolution), 20nm; the result has over 29% improvement when compared with the result using single MAC. In addition, good nanometer-scale tracking performance with the accuracy of one BLU, 20nm, can be obtained by using the MIC.

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Section: Resultsmentioning

confidence: 99%

Dual-Position-Controller Design for the Linear-Motor-Driven Motion System

Huang

Horng

Shih³

et al. 2007

JSDD

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“…Extend the similar operation to estimate the viscous coefficient B. Multiplying (8) with v and integrating it over a chosen period, , p T one get (18).…”

Section: Parameters Identification Of the Linear-motor Stagementioning

confidence: 99%

“…Ohnishi 11 introduced this equivalent disturbance, which was refined by Umeno and Hori. 12 Lee and Tomizuka 13 and other researchers [14][15][16][17][18][19][20][21][22][23][24][25][26] demonstrated the effectiveness of the disturbance observer by performing experiments with various uncertainties and external disturbances, to improve performance in tracking or point-to-point control.…”

Section: Introductionmentioning

confidence: 99%

Advanced parameter identification for a linear-motor-driven motion system using disturbance observer

Pan

Shih²,

Horng

et al. 2009

Int. J. Precis. Eng. Manuf.

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Disturbance observer (DOB) is generally introduced into motion control systems to eliminate undesired disturbances and plant uncertainty. The DOB is also used for system identification. This work presents a novel experimental identification algorithm using disturbance observer to identify inertia, viscous coefficient, and friction of linear-motor-driven motion system. A conventionally adopted algorithm for determining the inertia of the motion system based on orthogonal relations among system responses is modified and extended to estimate the viscous coefficient and the magnitude of Coulomb friction of the underlying system. The advantages of the proposed method are high convergence rate and only one experiment needed to evaluate the system parameters. The proposed algorithm is demonstrated to be workable by both simulation and experiment.

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“…It was stated that ADRC might not necessarily require TD and/or nonlinear gains by actively estimating and rejecting disturbance and unknown dynamics [9]. In addition, there exist great opportunities for ADRC to solve many other motion control problems, such as load disturbance resistance speed control [13], a motion control with disturbance observers [14], and sensorless control of induction motors [15].…”

Section: Disturbance Rejectionmentioning

confidence: 99%