Title :
Self-tuning control of brushless servo drive for a high performance tracking manipulator
Author :
Cheung, Jacob W F ; Chung, Alexis W K ; Cheung, Norbert C.
Author_Institution :
Motion Lab., ASM Assembly Autom. Ltd., Hong Kong
Abstract :
In accurate and fast positioning applications such as IC packaging, conventional PID or lead-lag compensator algorithms lacks robustness in providing good and consistent performance. Due to machine and driver nonlinearities, the controller often suffers from detuning as a result of variations in system parameters. This paper presents an account of employing dual-rate self-tuning control on a brushless servomotor drive for a high performance tracking manipulator to overcome the problems mentioned above. Recursive instrumental variable estimation (RIVE) is used for online parameter estimation. The self-tuning scheme includes a PID controller with inertia and friction compensation for optimal tracking performance
Keywords :
adaptive control; brushless machines; control system analysis; control system synthesis; machine control; machine testing; machine theory; manipulators; motor drives; optimal control; parameter estimation; robust control; self-adjusting systems; servomotors; three-term control; tracking; PID controller; brushless servomotor drive; control design; control performance; control simulation; dual-rate self-tuning control; friction compensation; inertia compensation; online parameter estimation; optimal tracking performance; recursive instrumental variable estimation; robustness; tracking manipulator; Control nonlinearities; Control systems; Instruments; Integrated circuit packaging; Nonlinear control systems; Parameter estimation; Recursive estimation; Robustness; Servomechanisms; Servomotors;
Conference_Titel :
Power Electronics and Drive Systems, 1997. Proceedings., 1997 International Conference on
Print_ISBN :
0-7803-3773-5
DOI :
10.1109/PEDS.1997.618720
