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To realize the high performance potential of linear motor drive systems, various nonlinearities inherited to the system and their compensations have been extensively studied during the past decade. However, existing research tends to focus on one or several types of nonlinearities at a time and thus do not offer a complete overall solution. This paper studies precision motion control of linear motors...
Iron-core linear motors have been widely used in high-speed/high-accuracy positioning systems due to the elimination of mechanical transmissions. Many control methodologies have been developed for linear motor motion control, such as H∞ control, adaptive control and sliding mode control. Compensations of various nonlinearities such as frictions and cogging forces have also been carried out to obtain...
This paper presents an adaptive robust tracking control approach for a class of Euler-Bernoulli flexible beams with uncertainties. The desired trajectory is specified for the tip displacement of a flexible beam actuated by a linear motor at the base. The modal truncation approach is used to obtain the dynamics of flexible beams, which are subsequently transformed into a standard form having unstable...
LuGre model has been widely used in dynamic friction modeling and compensation. However, there are some practical difficulties when applying it to systems experiencing large range of motion speeds such as the linear motor drive system studied in the paper. This paper first details the digital implementation problems of the LuGre model based dynamic friction compensation. A modified model is then presented...
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