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Disturbance observer and adaptive controller design for a linear-motor-driven table system

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Abstract

This paper presents a disturbance observer and adaptive controller design for a direct drive motion control system. An indirect adaptive controller is implemented to achieve desired tracking performance as well as deal with system parameters variation. To reduce tracking errors, a newly designed adaptive feed-forward controller is proposed based on an on-line estimated inverse model of the linear motor drive system. A digital disturbance observer is implemented to be included in the proposed feedback-feed-forward control structure to compensate for the undesired nonlinearity and external load disturbance of the direct drive system. Experimental results show that this control scheme can achieve superior contouring accuracy, disturbance rejection and robustness under the influence of friction and cogging force.

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Authors and Affiliations

  1. Department of Mechatronic Engineering, Huafan University, No. 1, Huafan Rd., Shihtin Hsiang, Taipei Hsien, 223, Taiwan, Republic of China

    Mu-Tian Yan, Kuo-Yi Huang, Yau-Jung Shiu & Yil Chen

Authors
  1. Mu-Tian Yan
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  2. Kuo-Yi Huang
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  3. Yau-Jung Shiu
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  4. Yil Chen
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Correspondence to Mu-Tian Yan.

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Yan, MT., Huang, KY., Shiu, YJ. et al. Disturbance observer and adaptive controller design for a linear-motor-driven table system. Int J Adv Manuf Technol 35, 408–415 (2007). https://doi.org/10.1007/s00170-007-1173-y

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  • DOI: https://doi.org/10.1007/s00170-007-1173-y

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