High-speed and high-precision motion control with an optimal hybrid feedforward controller

Author

Lin Guo ; Tomizuka, Masayoshi

Author_Institution

Adv. Technol. Group, Maxtor Corp., Milpitas, CA, USA

Volume

2

Issue

2

fYear

1997

fDate

6/1/1997 12:00:00 AM

Firstpage

110

Lastpage

122

Abstract

An optimal feedforward controller which makes a hybrid usage of the shift (q) and delta (δ) operators is proposed for high-speed and high-precision digital motion control systems. Uncancellable discrete-time zeros arising from sampling the continuous-time plant at high rates, which make the mathematical inverse unstable, are handled in a natural way. The controller is optimized to have good performance in both low and high frequency ranges, and it is able to handle uncancellable discrete-time zeros in the right half plane. The optimization problem is generalized to an H^∞ problem. Convex minimization is used to find the solution to the optimization problem. Simulation results and experiments carried out on an MC-510V Matsuura vertical machining center show superior performance of the proposed optimal hybrid feedforward controller.

Keywords

H^∞ control; continuous time systems; digital control; discrete time systems; feedforward; machining; minimisation; motion control; poles and zeros; H^∞ problem; MC-510V Matsuura vertical machining center; continuous-time plant; convex minimization; high-speed high-precision motion control; optimal hybrid feedforward controller; uncancellable discrete-time zeros; Bandwidth; Control systems; Digital control; Error correction; Feedback loop; Frequency; Motion control; Optimal control; Poles and zeros; Sampling methods;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/3516.588630

Filename

588630