An Approach to Robust Speed Control System with Acceleration Sensor for Linear Motor System with Inertia Perturbation.

Abstract

As a linear motor is driven directly, the linear motor system has the problems of how to prevent the bad influence by the inertia perturbation on the performance such as command resonse and disturbance attenuation of the speed control system. Especially, when we apply the linear motor system to the table feed of a machine tool, it is important that we design the control system to consider the inertia perturbation of the system becase the linear motor has no decelerator generally.In this paper, first, we discuss the problem of the design of speed control systems without an acceleration sensor. Secondly, we propose the new speed control system with the acceleration sensor and its compensators with the proper 2-oder rational function in consideration of the inertia perturbation of the system with acceleration sensor. The characteristic roots of the closed-loop transfer function of the speed control system with the acceleration compensator is mapped in the complex plane freely. The disturbance attenuation and command responce of this propsed speed control system with the acceleration sensor are hardly influenced by the inertia perturbation of the system. Thirdly, we propose the speed control system without acceleration limiter because the speed control system does not need acceleration limit generally.