Disturbance Observer and Adaptive Controller Design for a Linear-Motor-Driven Table System
碩士 === 華梵大學 === 機電工程研究所 === 94 === This paper presents disturbance observer and adaptive controller design for a direct drive motion control system actuated by permanent-magnet linear synchronous motors (PMLSM). An indirect adaptive controller is implemented to achieve desired tracking performance a...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2006
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| Online Access: | http://ndltd.ncl.edu.tw/handle/14834827044097593048 |
| Summary: | 碩士 === 華梵大學 === 機電工程研究所 === 94 === This paper presents disturbance observer and adaptive controller design for a direct drive motion control system actuated by permanent-magnet linear synchronous motors (PMLSM). An indirect adaptive controller is implemented to achieve desired tracking performance as well as deal with system parameters variation. A newly designed adaptive feedforward controller is proposed to reduce tracking errors based on an on-line estimated inverse model of the linear motor drive system. A digital disturbance observer is proposed to be included in the proposed feedback-feedforward control structure to compensate for the undesired nonlinearity and external load disturbance of the PMLSM drive system. The proposed control scheme is not only suitable for a non-minimum phase plant but also assuring the stability of the closed-loop 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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