Abstract
The fault tolerant control (FTC) technique is widely used in many industries to provide tolerance to systems so that they can operate when a system fault occurs. This paper presents a technique for FTC based on the observer signal application, which is used for a high-speed auto core adhesion mounting machine. The utilization of the observer signal information of the linear encoder fault is employed to adjust the gain parameters to achieve the appropriate gain value while maintaining the required performance of the system. The dynamic modeling of the servo motor system design utilizing a pole placement technique was designed to support the proposed method. A scaling gain fault step size adjustment from −1% to 1% with increments of 0.2% is used to simulate the fault conditions of the linear encoder. The statistical mean value of the observer error signal is used to train the artificial neural network (ANN) model. The results showed that the control system design successfully tracked the dynamic response. Furthermore, the ANN model, with more than 98% confidence, was satisfactory in classifying the linear encoder fault condition. The gain compensation was successful in reducing position error by more than 95% compared with the system without compensated gain.
Highlights
A hard disk drive (HDD) is a storage data device using a magnetic recording head assembled into a head gimbal assembly (HGA) which writes and reads data to/from the disk
The PI servo system with state estimation was used to design the controller, the observer was validated by response tracking, as shown in Figure 17, and the estimated accuracy of the output was compared to the actual output
This work presented the fault tolerant control of a high-speed auto core adhesion mounting machine based on the PI servo design of the observer
Summary
A hard disk drive (HDD) is a storage data device using a magnetic recording head assembled into a head gimbal assembly (HGA) which writes and reads data to/from the disk. The auto core adhesion mounting machine (ACAM) shown in Figure 2 is used for adhesive dispensing and slider attachment onto the suspension, requiring the positioning of the adhesive and slider attachment at the sub-micron level. The machine uses a feed drive actuator to move the worktable, as shown, moving the suspension to the desired position for dispensing and attachment. The linear bearing is used to support the worktable in the feed drive actuator and the linear encoder is used for position checking and feedback to the motor controller. A degeneration or fault of the linear encoder causes reduces the performance to control the worktable position and results in unplanned downtime. A preliminary fault of the linear encoder must be detected before the Machines 2020, 8, 22; doi:10.3390/machines8020022 www.mdpi.com/journal/machines
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