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TECHNICAL PAPERS

Design of Robust High-Speed Motion Controller for a Plant With Actuator Saturation

[+] Author and Article Information
Hyun-Taek Choi

School of Electrical Engineering and Computer Science, Hanyang University, 1271, Sa 1-Dong, Ansan, 425-791, Koreae-mail: finding@kt.co.kr

Bong Keun Kim

Department of Mechanical Engineering, Pohang University of Science & Technology, San 31, Hyoja-Dong, Nam-Gu, Pohang, 790-784, Koreae-mail: kbk@postech.ac.kr

Il Hong Suh

School of Electrical Engineering and Computer Science, Hanyang University, 1271, Sa 1-Dong, Ansan, 425-791, Koreae-mail: ihsuh@email.hanyang.ac.kr

Wan Kyun Chung

Department of Mechanical Engineering, Pohang University of Science & Technology, San 31, Hyoja-Dong, Nam-Gu, Pohang, 790-784, Koreae-mail: wkchung@postech.ac.kr

J. Dyn. Sys., Meas., Control 122(3), 535-541 (Aug 25, 1998) (7 pages) doi:10.1115/1.1286520 History: Received August 25, 1998
Copyright © 2000 by ASME
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References

Figures

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Structure of disturbance observer
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Block diagram of the control scheme
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Proximate time optimal servomechanism
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Block diagram of the system with saturation
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Disturbance observer with additional saturation element (ASE)
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Disturbance observer with self-adjusting saturation (SAS)
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Precision linear motor system
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Hardware configuration of precision linear motor system
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Experimental friction modeling; magnitude of static friction (a): 0.18, (b): −0.18, magnitude of Coulomb friction (c): 0.11, (d): −0.10, slope of positive viscous friction (e): 0.40, (f): −0.37
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Overall control system and saturation handing elements. (a) Block diagram of the overall control system; (b) conventional DOB; (c) ASE; (d) SAS
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External disturbance for simulation
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Simulation results (conventional DOB). (a) Position; (b) velocity; (c) control imput; (d) error.
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Simulation results (ASE). (a) Position; (b) velocity; (c) control imput; (d) error.
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Simulation results (SAS). (a) Position; (b) velocity; (c) control imput; (d) error.
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Experimental results (conventional DOB). (a) Position; (b) velocity; (c) control imput; (d) error.
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Experimental results (ASE). (a) Position; (b) velocity; (c) control imput; (d) error.
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Experimental results (SAS). (a) Position; (b) velocity; (c) control imput; (d) error.

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