Straightness Error Compensation Servo-system for Single-axis Linear Motor Stage
Since straightness error of linear motor stage is hardly
dependent upon machining accuracy and assembling accuracy, there is
limit on maximum realizable accuracy. To cope with this limitation,
this paper proposed a servo system to compensate straightness error of
a linear motor stage. The servo system is mounted on the slider of the
linear motor stage and moves in the direction of the straightness error
so as to compensate the error. From position dependency and
repeatability of the straightness error of the slider, a feedforward
compensation control is applied to the platform servo control. In the
consideration of required fine positioning accuracy, a platform driven
by an electro-magnetic actuator is suggested and a sliding mode
control was applied. The effectiveness of the sliding mode control was
verified along with some experimental results.
[1] G. Pritshcow, "A comparison of linear and conventional
electromechanical drives," Annals of the CIRP, vol. 47, no. 2, pp541-548,
1998.
[2] M. Yan and T Cheng, "High accuracy motion control of linear motor drive
wired-EDM machines," Proc. Of the 2005 IEEE International Conference
on Mechatronics, pp. 346-351, 2005.
[3] O. Kim, S. Lee, and D. Han, "Positioning performance and straightness
error compensation of the magnetic levitation stage supported by the
linear magnetic bearing," IEEE Trans. on Industrial Electronics, vol. 50,
no. 2, pp.374-378, 2003.
[4] J. D. Choi and M. S. Kang, "Development of a servo-system for
straightness improvement of linear motor stages," Trans. of the KIEE, vol.
54D, no. 1, pp.33-39, 2005.
[5] B. Amstrong-Helouvry, P. Dupont, and C. Canudas, "A survey of models,
analysis tools and compensation methods for control of machines with
friction," Automatica, vol. 30, no. 7, pp.1083-1138, 1994.
[6] P. Dupont, "Avoiding stick-slip through PD control," IEEE Trans. On
Automatic Control, vol. 39, no. 5, pp. 1059-1097, 1994.
[7] C. Canudas de Wit, H. Olsson, K.J. Astrom, and P. Lischinsky, "A new
model for control of system with friction," IEEE Transactions on
Automatic Control, vol. 40, pp. 419-425, 1995.
[8] K. Khayati, P. Bigras, and L. Dessaint, "A multistage position/force
control for constained robotic systems with friction: Joint-space
decomposition, linearization, and multiobjective obser/controller
synthesis using LMI formulism," IEEE Trans. on Industrial Electronics,
vol. 53, no. 5, pp.1689-1712, 2006.
[9] F. Jatta, G. Legnani, and A. Visioli, "Friction compensation in hybrid
force/velocity control of industrial manipulators," IEEE Trans. on
Industrial Electronics, vol. 53, no. 2, pp.604-613, 2006.
[10] X.Z. Gao and S. J. Ovaska, "Friction compensation in servo motor
systems using neural networks, "Proc. of the 1999 IEEE Midnight-Sun
Workshop on Soft Computing Methods in Industrial Applications, pp.
146-151, 1999.
[11] D.K. Young, V.I. Utkin, and Ozguner, "A control engineer-s guide to
sliding mode control," IEEE Trans. on Control Systems Technology, vol.
7, no. 3, 1999.
[12] C. L. Chen, M. J. Jang, and K. C. Lin, "Modeling and high-[recision
control of a ball-csrew-driven stage," Precision Engineering, vol. 28, pp.
483-495, 2004.
[13] V. I. Utkin, J. Guldner, and J. Shi, Sliding mode control in
electromechanical systems, New-York:Taylor & Francis, 1999.
[14] C. Edward and S. K. Spurgeon, Sliding mode control: Theory and
application, Taylor & Francis Ltd, 2004.
[1] G. Pritshcow, "A comparison of linear and conventional
electromechanical drives," Annals of the CIRP, vol. 47, no. 2, pp541-548,
1998.
[2] M. Yan and T Cheng, "High accuracy motion control of linear motor drive
wired-EDM machines," Proc. Of the 2005 IEEE International Conference
on Mechatronics, pp. 346-351, 2005.
[3] O. Kim, S. Lee, and D. Han, "Positioning performance and straightness
error compensation of the magnetic levitation stage supported by the
linear magnetic bearing," IEEE Trans. on Industrial Electronics, vol. 50,
no. 2, pp.374-378, 2003.
[4] J. D. Choi and M. S. Kang, "Development of a servo-system for
straightness improvement of linear motor stages," Trans. of the KIEE, vol.
54D, no. 1, pp.33-39, 2005.
[5] B. Amstrong-Helouvry, P. Dupont, and C. Canudas, "A survey of models,
analysis tools and compensation methods for control of machines with
friction," Automatica, vol. 30, no. 7, pp.1083-1138, 1994.
[6] P. Dupont, "Avoiding stick-slip through PD control," IEEE Trans. On
Automatic Control, vol. 39, no. 5, pp. 1059-1097, 1994.
[7] C. Canudas de Wit, H. Olsson, K.J. Astrom, and P. Lischinsky, "A new
model for control of system with friction," IEEE Transactions on
Automatic Control, vol. 40, pp. 419-425, 1995.
[8] K. Khayati, P. Bigras, and L. Dessaint, "A multistage position/force
control for constained robotic systems with friction: Joint-space
decomposition, linearization, and multiobjective obser/controller
synthesis using LMI formulism," IEEE Trans. on Industrial Electronics,
vol. 53, no. 5, pp.1689-1712, 2006.
[9] F. Jatta, G. Legnani, and A. Visioli, "Friction compensation in hybrid
force/velocity control of industrial manipulators," IEEE Trans. on
Industrial Electronics, vol. 53, no. 2, pp.604-613, 2006.
[10] X.Z. Gao and S. J. Ovaska, "Friction compensation in servo motor
systems using neural networks, "Proc. of the 1999 IEEE Midnight-Sun
Workshop on Soft Computing Methods in Industrial Applications, pp.
146-151, 1999.
[11] D.K. Young, V.I. Utkin, and Ozguner, "A control engineer-s guide to
sliding mode control," IEEE Trans. on Control Systems Technology, vol.
7, no. 3, 1999.
[12] C. L. Chen, M. J. Jang, and K. C. Lin, "Modeling and high-[recision
control of a ball-csrew-driven stage," Precision Engineering, vol. 28, pp.
483-495, 2004.
[13] V. I. Utkin, J. Guldner, and J. Shi, Sliding mode control in
electromechanical systems, New-York:Taylor & Francis, 1999.
[14] C. Edward and S. K. Spurgeon, Sliding mode control: Theory and
application, Taylor & Francis Ltd, 2004.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:52722", author = "M. S. Kang and D. H. Kim and J. S. Yoon and B. S. Park and J. K. Lee", title = "Straightness Error Compensation Servo-system for Single-axis Linear Motor Stage", abstract = "Since straightness error of linear motor stage is hardly
dependent upon machining accuracy and assembling accuracy, there is
limit on maximum realizable accuracy. To cope with this limitation,
this paper proposed a servo system to compensate straightness error of
a linear motor stage. The servo system is mounted on the slider of the
linear motor stage and moves in the direction of the straightness error
so as to compensate the error. From position dependency and
repeatability of the straightness error of the slider, a feedforward
compensation control is applied to the platform servo control. In the
consideration of required fine positioning accuracy, a platform driven
by an electro-magnetic actuator is suggested and a sliding mode
control was applied. The effectiveness of the sliding mode control was
verified along with some experimental results.", keywords = "Linear Motor Stage, Straightness Error, Friction,Sliding Mode Control.", volume = "3", number = "2", pages = "139-5", }
