1997 Volume 63 Issue 615 Pages 3870-3875
The well-known methods for improving servo tracking performance are (1) increasing controller gain higher and (2) applying a feed-forward term. However, the former is limited by the stability of the system and the latter is also limited because in implementing a feed-forward controller, the command input needs to be differentiated, which may cause ripple or machine vibration. The controller proposed in this paper can achieve equivalent high gain performance by using comparatively lower position gain. Instead of implementing the conventional first order loop controller, the third order one is applied. By tuning the servo parameters properly, the circular tracking performance is improved by 400% compared to the first order controller with the same gain. Moreover, this controller can reduce the jerk of the commanded control input. Results show that by applying this controller, machine vibration is reduced and the response becomes more stable.
Transactions of the Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers Series A
Transactions of the Japan Society of Mechanical Engineers Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A
