Advanced tracking control of positioning tables

Weiping Li; Manoj Rehani

doi:10.1117/12.217467

28 August 1995 Advanced tracking control of positioning tables

Weiping Li, Manoj Rehani

Proceedings Volume 2620, International Conference on Intelligent Manufacturing; (1995) https://doi.org/10.1117/12.217467
Event: International Conference on Intelligent Manufacturing, 1995, Wuhan, China

Abstract

It is well known that point-to-point positioning can be well achieved by a conventional PID controller. However, precise tracking of preplanned motion trajectories requires more sophisticated model-based control algorithms. This paper presents a study on the design and implementation of precise tracking controllers for positioning tables during high-acceleration high-speed motion. A controller incorporating both acceleration feedforward and robust friction compensation is theoretically analyzed under various operating conditions and model uncertainties. An effective technique for tuning feedback gains was found, allowing the determination of the largest well-damped feedback gains. The control design was tested on an industrial belt-drive high-speed positioning table, and much better results were obtained than those of conventional controllers.

Citation Download Citation

Weiping Li and Manoj Rehani "Advanced tracking control of positioning tables", Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); https://doi.org/10.1117/12.217467

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