Robust Position Regulation Control of a Transportation Carriage Directly Driven by Linear Brushless DC Motor

Abstract

This study presents robust position regulation control of a transportation carriage directly driven by linear brushless DC motor. System identification for the linear motor, together with a driver, is performed by a dynamic signal analyzer, thus providing a linearized model for the system. According to the selected nominal parameters, an optimal solution with a prescribed degree of stability is obtained. Due to identification procedures and possible payload variations, system parameter uncertainties exist. Thus, an auxiliary input, connected to the nominal optimal control, is introduced to guarantee robustness for the control of the transportation carriage. Computer simulation andexperimental implementation are completed andcompared. These results demonstrate the effectiveness of the proposed approach for the position regulation control within the linear brushless DC motor and also confirm the feasibility of its implementation in manufacturing systems.