Positioning Controller Design for XY Table

• Main Authors: Ching-Yu Hsu, 許景育
• Other Authors: Jyh-Ching Juang
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/06914907178274625469

碩士 === 國立成功大學 === 電機工程學系碩博士班 === 92 === 　　High-precision positioning control is in many industrial applications. However, the nonlinear characteristic in a servomechanical system may pose performance limitations. For example, the friction affects the tracking error of the system, resulting in a large tracking error and, sometimes, oscillatory control signal. In this thesis, control algorithms are developed, simulated, and tested. Digital controllers based on robust control and model predictive methods have been designed to improve the control accuracy of positioning systems. Moreover, through simulation and experiment, these controllers are evaluated and tested in an X-Y table. It is show that the friction effect can be stabilized from the preliminary results of simulation and experiment.