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Nonlinear Adaptive Control for Position Synchronization of a Gantry-Moving-Type Linear Motor

겐트리형 리니어 모터의 동기화를 위한 비선형 적응제어

  • Han, Sang-Oh (Dept. of Automotive Engineering, Hanyang Univ.) ;
  • Kim, In-Keun (Dept. of Automotive Engineering, Hanyang Univ.) ;
  • Huh, Kun-Soo (School of Mechanical Engineering, Hanyang Univ.)
  • 한상오 (한양대학교 자동차공학과) ;
  • 김인근 (한양대학교 자동차공학과) ;
  • 허건수 (한양대학교 기계공학부)
  • Received : 2010.08.03
  • Accepted : 2010.10.11
  • Published : 2010.12.01

Abstract

For high-speed/high-accuracy position control of a gantry-moving-type linear motor, we propose a nonlinear adaptive controller including a synchronization algorithm. Linear motors are easily affected by force ripple, friction, and parameter variations because there is no mechanical transmission to reduce the effects of model uncertainties and external disturbances. Synchronization error is also caused by skew motion, model uncertainties, and force disturbance on each axis. Nonlinear effects such as friction and ripple force are estimated and compensated for. The synchronization algorithm is used to reduce the synchronous error of the two side pillars. The performance of the controller is evaluated via computer simulations.

Keywords

Synchronization Control;Gantry-Moving Type Linear Motor;Adaptive Control;Friction Force;Force Ripple

Acknowledgement

Supported by : 한국연구재단

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