Robust tracking control for mechanical systems using only position measurements

Rascón, Raúl; Almeida, David I. Rosas; Hernandez-Fuentes, Ivan Olaf; Rodríguez, Julio César

doi:10.1016/j.isatra.2019.12.012

Cited by 7 publications

(2 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Force fluctuations occurring in a linear motor feed system are a topical issue that affect the accuracy of system operation. Attempts are made to solve it by applying various algorithms; from the magnetic field model of the peranent magnet air gap [13], the model of permanent magnetic linear synchronous motors (PMLSM) [14], the equivalent circuit model obtained by theoretical analysis [15,16], the conformal mapping (CM) method for determining torque [17,18], PMLSM analysis method [14], multiple changes of traction harmonics of different motion parameters [19], development of compensation control strategies to improve traction oscillations as a periodic disturbance compensation strategy [20], force wave compensation strategy [21] and a comprehensive strategy for trinities, disturbances and surges [22,23]. To maintain the dynamic stability of the linear stage and its static error at its minimum, it is required to calibrate static error by optical methods and tune the transfer function in frequency domain.…”

Section: Introductionmentioning

confidence: 99%

Investigation of X and Y Configuration Modal and Dynamic Response to Velocity Excitation of the Nanometer Resolution Linear Servo Motor Stage with Quasi-Industrial Guiding System in Quasi-Stable State

et al. 2021

View full text Add to dashboard Cite

Research institutions and industrial enterprises demand high accuracy and precision positioning systems to fulfil cutting edge requirements of up-to-date technological processes in the field of metrology and optical fabrication. Linear motor system design with high performance mechanical guiding system and optical encoder ensures nanometer scale precision and constant static error, which can be calibrated by optical instruments. Mechanical guiding systems has its benefits in case of control theory and its stability; unfortunately, on the other hand, there exists high influence of structure geometry and tribological effects such as friction and modal response. The aforementioned effect cannot be straightforwardly identified during the assembly process. Degradation of dynamic units can be detected only after certain operating time. Single degree of freedom systems are well investigated and the effect of degradation can be predicted, but there exists a gap in the analysis of nanometer scale multi degree of freedom dynamic systems; therefore, novel diagnostic tools need to be proposed. In this particular paper, dual axes dynamic system analysis will be presented. The main idea is to decouple standard stacked XY stage and analyse X and Y configuration as two different configurations of the same object, while imitators of corresponding axes are absolutely solid and stationary. As storage and analysis of time domain data is not efficient, main attention will be concentrated on frequency domain data, while, of course, statistical and graphical representation of dynamic response will be presented. Transfer function, dynamic response, spectral analysis of dynamic response, and modal analysis will be presented and discussed. Based on the collected data and its analysis, comparison of X and Y responses to different velocity excitation will be presented. Finally, conclusions and recommendations of novel diagnostic way will be presented.

show abstract

Section: Introductionmentioning

confidence: 99%

Investigation of X and Y Configuration Modal and Dynamic Response to Velocity Excitation of the Nanometer Resolution Linear Servo Motor Stage with Quasi-Industrial Guiding System in Quasi-Stable State

et al. 2021

View full text Add to dashboard Cite

show abstract

“…More recently, in [21] is proposed a discontinuous controller to solve the tracking problem in the mechanical systems of n DOF. This controller does not need velocity measurements to achieve the control objective.…”

Section: Introductionmentioning

confidence: 99%