Modeling and control of a belt-drive positioning table

Author

Li, Weiping ; Rehani, Manoj

Author_Institution

Dept. of Mech. Eng., Hong Kong Univ. of Sci. & Technol., Kowloon, Hong Kong

Volume

3

fYear

1996

fDate

5-10 Aug 1996

Firstpage

1984

Abstract

Belt-drive positioning tables are widely used in industries because of their low cost and high-speed capability but they tend to have low precision due to belt flexibility. This paper presents a study on how to obtain reliable models of such tables and achieve precise position tracking during high-speed high-acceleration motion. A dynamic model was identified and several related issues examined. A model-based tracking control design was used to compensate for table inertia and friction. A new technique is proposed for tuning the feedback gains of the control system for optimal performance. The tracking controller is implemented on an industrial high-speed belt-drive table, with excellent results obtained

Keywords

control system analysis; control system synthesis; feedback; flexible structures; model reference adaptive control systems; optimal control; position control; belt flexibility; belt-drive positioning table; control design; control simulation; feedback gains tuning; model-based tracking control; optimal performance; position tracking; table friction compensation; table inertia compensation; Belts; Control design; Control systems; Costs; Electrical equipment industry; Feedback; Friction; Optimal control; Performance gain; Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on

Conference_Location

Taipei

Print_ISBN

0-7803-2775-6

Type

conf

DOI

10.1109/IECON.1996.570782

Filename

570782