Position Control System of Linear Pluse Motor Based on Robust Backstepping Approach

• Main Authors: Hou-Ze Lee, 李後澤
• Other Authors: Chen-Sheng Ting
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/397739

碩士 === 國立虎尾科技大學 === 電機工程研究所 === 100 === This thesis is based on the principle of robust backstepping control to develop a position-servo control system for linear pulse motor (LPM). To explore a high performance servo control technology, the complete theory is formulated via systematic analysis and synthesis process. The dynamic model is first established by using the concept of coordinate transformation that transfers the mathematic model of LPM into a compact form for facility of designing work. Then, considering the effects of load disturbance and parameter variation, the proposed approach employs the advantages of fuzzy neural network and adaptive tuning technique to the development of robust backstepping control algorithm. Various motion trajectories are utilized to examine the performance of the control system. Simulation and experiment results demonstrate the accuracy, validity, and highly robust ability of the proposed system.