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Proceedings Paper

Advanced tracking control of positioning tables
Author(s): Weiping Li; Manoj Rehani
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Paper Abstract

It is well known that point-to-point positioning can be well achieved by a conventional PID controller. However, precise tracking of preplanned motion trajectories requires more sophisticated model-based control algorithms. This paper presents a study on the design and implementation of precise tracking controllers for positioning tables during high-acceleration high-speed motion. A controller incorporating both acceleration feedforward and robust friction compensation is theoretically analyzed under various operating conditions and model uncertainties. An effective technique for tuning feedback gains was found, allowing the determination of the largest well-damped feedback gains. The control design was tested on an industrial belt-drive high-speed positioning table, and much better results were obtained than those of conventional controllers.

Paper Details

Date Published: 28 August 1995
PDF: 6 pages
Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); doi: 10.1117/12.217467
Show Author Affiliations
Weiping Li, Hong Kong Univ. of Science and Technology (Hong Kong)
Manoj Rehani, Wayne State Univ. (United States)


Published in SPIE Proceedings Vol. 2620:
International Conference on Intelligent Manufacturing
Shuzi Yang; Ji Zhou; Cheng-Gang Li, Editor(s)

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