DocumentCode :
2038346
Title :
Repetitive position tracking performance enhancement of linear ultrasonic motor with sliding mode-cum-iterative learning control
Author :
Mainali, Krishna ; Panda, S.K. ; Xu, J.X. ; Senjyu, Tomonobu
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore
fYear :
2004
fDate :
3-5 June 2004
Firstpage :
352
Lastpage :
357
Abstract :
The ultrasonic motors are finding increasing demand in high precision positioning applications due to their superior tracking performance compared to electromagnetic motors. The motors have simple construction, but exhibit highly nonlinear characteristics such as deadzone and hysteresis. Moreover motor parameters are time varying due to change in temperature when motor is running. Due to all these nonlinearities it is very difficult to come up with an exact model of the motor. When conventional linear controllers such as PI/PID are used for position control, they do not provide satisfactory performance. In this paper position control of the linear ultrasonic motor (LUSM) is carried out using sliding mode control (SMC) technique. An approximate model of the motor is being used and the SMC technique can give comparatively improved tracking performance and robustness than the traditional linear controllers. For the repetitive position tracking, the periodic error can be further reduced by augmenting a plug-in iterative learning controller (ILC) to the existing SMC. In such a hybrid scheme, SMC is dominant during transient period while ILC takes over most of the control action during steady state period resulting in improved tracking performance during transient as well as steady state operations. Experimental results obtained show tracking error can be reduced by a factor of at least ten as compared to scheme with SMC alone validating the efficacy of the proposed control scheme.
Keywords :
PI control; adaptive control; iterative methods; learning systems; linear motors; machine control; position control; three-term control; time-varying systems; ultrasonic motors; variable structure systems; PI control; PID control; linear ultrasonic motor; position control; repetitive position tracking performance enhancement; sliding mode-cum-iterative learning control; steady state operations; time-varying system; Application software; Drives; Error correction; High performance computing; Hysteresis motors; Position control; Sliding mode control; Steady-state; Torque; Vibrations;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics, 2004. ICM '04. Proceedings of the IEEE International Conference on
Print_ISBN :
0-7803-8599-3
Type :
conf
DOI :
10.1109/ICMECH.2004.1364464
Filename :
1364464
Link To Document :
بازگشت