Abstract
In this paper, system identification and the profile planning based on the model of X-Y table are discussed. The system model being identified is divided into low-frequency model and high-frequency model. Low-frequency model based on the physical pattern is identified by time-domain method. High-frequency model based on the vibration pattern is identified by frequency-domain method. The physical limitations on voltage, velocity and acceleration can be derived from the low-frequency model. The poles with system oscillation can be derived from the high-frequency model. Hence, with the limitations obtained from the identified model, an optimal four-order profile is designed. The presented profile with optimal ramp-up time can reduce the excitation at the natural frequency significantly. Experimental results show that the identified model and the designed profile can be applied to the motion control effectively.
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© 2008 Springer-Verlag Berlin Heidelberg
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Shao, H., Liao, D., Cheung, J.W.F. (2008). System Identification and Profile Planning for High Accuracy Servo System. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_44
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DOI: https://doi.org/10.1007/978-3-540-88513-9_44
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
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