Initial Value Compensation Considering Input Saturation and Modeling Error in Repetitive Positioning Systems

Abstract

This paper presents a practical residual vibration suppression methodology for the repetitive fast-response and high-precision positioning in laser drilling machines. The authors have already proposed an Initial Value Compensation (IVC) approach using addtional input, where two essential subjects have been remained: one was the input saturation in power amplifier, and the other was the performance deterioration due to the modeling errors. In the paper, improvement approaches in compensators are proposed, where the additional input within the power saturation can be applied to the robust feedback controller. The effectiveness of the proposed compensation has been verified by numerical simulations and experiments using a positioning device for galvano scanners.