Hybrid error contour control based on iterative learning control
WANG Li-mei
GUO Yi-xing
Abstract：In order to avoid the uncertain disturbance in the direct drive XY table system of permanent magnet linear synchronous motor (PMLSM),an iterative learning controller based on the disturbance observer was designed on the single shaft.The iterative learning controller can restrain the repetitive disturbance,and the disturbance observer can eliminate the influence of non-repetitive disturbance.The combination of iterative learning controller and disturbance observer can enhance the ability of system for restraining both repetitive and non-repetitive disturbances.Because the contour error computing model requests that the tracking error should be far less than the expected contour curvature radius,a hybrid error contour controller was designed.When the tracking error is larger,only the position of each axis is controlled.When the tracking error is small enough,the contour control is performed.The simulated results show that the proposed control method makes the direct drive XY table exhibit stronger robustness and higher contour precision.
Keywords：XY tablehybrid erroriterative learning control (ILC)disturbance observer (DOB)nominal modelcurvature radiusrobustnesscontour precision
Publication Date：2014-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 601-606 )