Linear motor motion control using a learning feedforward controller

Author

Otten, Gerco ; De Vries, Theo J A ; Van Amerongen, Job ; Rankers, Adrian M. ; Gaal, Erik W.

Author_Institution

Hollandse Signaalapparaten, Hengelo, Netherlands

Volume

2

Issue

3

fYear

1997

fDate

9/1/1997 12:00:00 AM

Firstpage

179

Lastpage

187

Abstract

The design and realization of an online learning motion controller for a linear motor is presented, and its usefulness is evaluated. The controller consists of two components: (1) a model-based feedback component, and (2) a learning feedforward component. The feedback component is designed on the basis of a simple second-order linear model, which is known to have structural errors. In the design, an emphasis is placed on robustness. The learning feedforward component is a neural-network-based controller, comprised of a one-hidden-layer structure with second-order B-spline basis functions. Simulations and experimental evaluations show that, with little effort, a high-performance motion system can be obtained with this approach

Keywords

feedback; feedforward neural nets; intelligent control; linear synchronous motors; mechatronics; motion control; neurocontrollers; splines (mathematics); B-spline basis functions; intelligent control; learning feedforward controller; linear synchronous motor; mechatronics; model-based feedback; motion control; neural-network; neurocontroller; second-order linear model; Coils; Control systems; Force control; Job design; Mechatronics; Motion control; Neurofeedback; Permanent magnet motors; Power system reliability; Synchronous motors;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/3516.622970

Filename

622970