Automatica (Journal of IFAC)
Mechanical modelling and control layout of a mini-PKM for assembly applications
MIC'06 Proceedings of the 25th IASTED international conference on Modeling, indentification, and control
Experimental assessment of PID control with feedforward compensation of linear motors
MIC '07 Proceedings of the 26th IASTED International Conference on Modelling, Identification, and Control
Hi-index | 0.00 |
The paper discusses the effects of the velocity and acceleration feedforward compensation gains in the control of a prismatic axis for micrometric accuracy applications actuated by a brushless linear motor. The work is based on experimental tests; the considered prismatic axis is equipped with a cog-free linear motor, high-precision linear bearings and an optical linear encoder with a resolution of 0.1 μm and a range of motion of 75 mm. The aim of the work is to study the influence of the feedforward compensation gains on the time history of the following error of the linear axis, considering both its maximum value and the oscillation due to the stick-slip phenomena of the linear bearings. The experimental results are discussed.