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Linear Model‐based Feedforward Control for Improving Tracking‐performance of Linear Motors
Author(s) -
Li YanJang,
Tien SzuChi
Publication year - 2014
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.842
Subject(s) - feed forward , control theory (sociology) , linear motor , tracking (education) , nonlinear system , control engineering , computer science , controller (irrigation) , linear model , pid controller , trajectory , linear system , engineering , control (management) , mathematics , artificial intelligence , psychology , temperature control , pedagogy , agronomy , mathematical analysis , physics , quantum mechanics , machine learning , astronomy , biology , mechanical engineering
The main purpose of this article is to propose a linear model‐based approach for improving the tracking performance of linear motors. In particular, P ‐ and PI ‐controllers, augmented with a linear‐model‐based feedforward controller and disturbance observer ( DOB ), were utilized in this research. Experimental results show that the feedforward controller can substantially reduce the phase‐delay problem resulting from the limitation of closed‐loop bandwidth. In addition, the DOB can reject nonlinear behaviors to keep a motor‐system close to our nominal linear model. Compared with the results of using P ‐ and PI ‐controllers only, tracking errors were reduced from 4.44% to 0.67% of the desired trajectory. Therefore, the proposed method provides a solution for improving the tracking performance of linear motors.