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Abstract
This paper describes an improvement of the existing nominal characteristic trajectory following (NCTF) as a practical control method for a two-mass rotary point-to-point (PTP) positioning systems. Generally, the NCTF controller consists of a nominal characteristic trajectory (NCT) and a PI compensator. A notch filter is added as a part of the compensator to eliminate the vibration due to the mechanical resonance of the plant. The objective of the NCTF controller is to make the object motion follow the NCT and end at its origin. The NCTF controller is designed based on a simple open-loop experiment of the object. The parameters identification and an exact model of the plant are not necessary for controller design. The performance response of improved NCTF controller is evaluated and discussed based on results of simulation. The effect of the design parameters on the robustness of the NCTF controller to inertia and friction variations is evaluated and compared with conventional PID controller. The results show that the improved NCTF controller has a better positioning performance and is much more robust than the PID controller.
Highlights
Precision positioning systems play an important role in industrial engineering applications such as advanced manufacturing systems, semiconductor manufacturing systems and robot systems
The nominal characteristic trajectory following (NCTF) controller consists of two elements namely a nominal characteristic trajectory (NCT) and a PI compensator
The significance of this research lies in the fact that a simple and easy controller can be designed for high precision positioning system which is very practical
Summary
Precision positioning systems play an important role in industrial engineering applications such as advanced manufacturing systems, semiconductor manufacturing systems and robot systems. In multi-mass systems application, such as in spot-welding robot, which has a long arm for linear system or long shaft in rotary system, PTP positioning is used to locate the manipulator from one location to another. PTP positioning systems requires high accuracy with a high speed, fast response with no or small overshoot and to be robust to parameter variations and uncertainties. In PTP applications, parameter varies with the payload and some friction may cause the instability of the performances [1]. In this case, the system performance is expected to be the same or as close as its performance when the system is in normal condition. It had been reported that the NCTF had a good positioning performance and robustness to parameters variations [2]
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