Positioning control of direct drive system

Tiong, Christine Shi Ming (2018) Positioning control of direct drive system. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

This project discusses the positioning control of a direct drive system. The direct drive system is driven using an ironless permanent-magnet linear motor (IPMLM) to directly drive the mechanism in a linear motion. Direct drive system is an advanced technology that has been widely used in extensive area of high-speed applications due to its simple structure, high accuracy and high speed. However, it is highly sensitive towards the disturbances and parameter variation affected by the elimination of the mechanical transmission elements. The existing Continuous Motion Nominal Characteristics Trajectory Following (CM-NCTF) controller has showed its promising positioning performance in PTP and tracking motions, however, its performance is deteriorated, demonstrates a slow-motion in high frequency motion of 5 Hz. The main objective of the project is to design a fast positioning control for a direct drive system to achieve a fast response at point-to-point and tracking motions at high frequency simultaneously. As a solution, a feedforward compensator is incorporated to the CM-NCTF controller in order to improve the following characteristic of the control system, and thus perform smaller tracking error. The positioning performance of the controller is validated experimentally in PTP and in tracking motions.

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