Robust Digital Tracking Controller Design for High-speed Positioning Systems

Endo, Shuji; Tomizuka, Masayoshi; Hori, Yoichi

doi:10.23919/acc.1993.4793339

Cited by 60 publications

(13 citation statements)

References 3 publications

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“…Various guidelines were suggested for the selection of the Q-filter, and most of them focused on the robust stability of the DOB loop itself [17][18][19][20]. However, since the DOB loop is just a part of the overall closed loop system, the robust stability of the closed loop system should also be considered during DOB loop design.…”

Section: Dob Inner-loop Designmentioning

confidence: 99%

Double-loop robust tracking control for micro machine tools

Fan

Nagamune

Ding

2011

Sci. China Technol. Sci.

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This paper addresses double-loop robust tracking controller design of the miniaturized linear motor drive precision stage with mass and damping ratio uncertainties. As an inner-loop, a disturbance observer (DOB) is employed to suppress exogenous low frequency disturbances such as friction and cutting force. To further eliminate the residual disturbance and to guarantee the robust tracking to the reference input, a -synthesis outer-loop controller is designed. For eliminating the steady state error, a technique is proposed to design the -synthesis outer-loop controller with an integrator. A guideline to select the bandwidth of the Q-filter in the DOB is provided. Simulations using a model of a prototype micro-milling machine indicate that the proposed outer-loop synthesis scheme is superior to the H  suboptimal control in disturbance rejection performance and steady state tracking performance. Furthermore, it is shown experimentally that the proposed double-loop robust tracking controller improves the tracking performance of the stage by 29.6% over PID control with a DOB inner-loop. micro machine tools, robust tracking, -synthesis, disturbance observer Citation:Fan S X, Nagamune R, Fan D P. Double-loop robust tracking control for micro machine tools.

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Section: Dob Inner-loop Designmentioning

confidence: 99%

Double-loop robust tracking control for micro machine tools

Fan

Nagamune

Ding

2011

Sci. China Technol. Sci.

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“…To ensure good tracking performance without cancelling this closed-loop zero, a zero phase error tracking controller (ZPETC) was proposed by Tomizuka [7] in the context of welding applications. In the ZPETC [8], the compensator T x (z Ϫ1 ) cancels the regulation dynamics defined by A(z Ϫ1 ) and any stable zeros in B(z Ϫ1 ). It also applies a feedforward dynamic scale factor B(z) [B(1)] 2 to guarantee zero phase errors between the reference input position x d (k) and the actual position x(k).…”

Section: A Control Lawmentioning

confidence: 99%

Tracking Control and Reference Trajectory Generation in a LOM System

Liu

Wang

et al. 2003

The International Journal of Advanced Manufacturing Technology

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An improvement in contour accuracy is acquired by the introduction of a tracking controller and a trajectory generation policy in a laminated object manufacture (LOM) system. A model of the positioning system is developed as the design basis of the tracking controller. A zero phase error tracking controller (ZPETC) is used to eliminate single axis following error, and thus reduce the contour error. Then the crosscoupled controller (CCC) is introduced to further minimise the contour error caused by the two-axis mismatch; the method of off-line generating of two-dimension reference trajectories followed by the positioning system is proposed. Simulation is developed using a Matlab model and satisfactory results are obtained.

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“…Based on an extended pole placement method and a disturbance observer, an accurate motion controller design was proposed in [2]. Recently, DOB was combined with the zero-phase error tracking algorithm (ZPETC) [27] as reported in [7,9] for digital implementations. It is now a common practice to use DOB in many high precision motion control systems, e.g., disk drive servo control [4].…”

Section: Introductionmentioning

confidence: 99%

Fractional Order Disturbance Observer for Robust Vibration Suppression

2004

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For the first time, the fractional order disturbance observer (FO-DOB) is proposed for vibration suppression applications such as hard disk drive servo control. It has been discovered in a recently published US patent application (US20010036026) that there is a tradeoff between phase margin loss and strength of the low frequency vibration suppression. Given the required cutoff frequency of the low pass filter, also known as the Q-filter, it turns out that the relative degree of the Q-filter is the major tuning knob for this tradeoff. The solution in US20010036026 was based on an integer order Q-filter with a variable relative degree. This actually motivated the use of a fractional order Q-filter. The fractional order disturbance observer is based on the fractional order Q-filter. The implementation issue is also discussed. The nice point of this paper is that the traditional DOB is extended to the fractional order DOB with the advantage that the FO-DOB design is now no longer conservative nor aggressive, i.e., given the cutoff frequency and the desired phase margin, we can uniquely determine the fractional order of the low pass filter.

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Robust Digital Tracking Controller Design for High-speed Positioning Systems

Cited by 60 publications

References 3 publications

Double-loop robust tracking control for micro machine tools

Double-loop robust tracking control for micro machine tools

Tracking Control and Reference Trajectory Generation in a LOM System

Fractional Order Disturbance Observer for Robust Vibration Suppression

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