Abstract
This paper describes a practical controller design method for precision motion system. To this date, the authors have proposed and studied a nominal characteristic trajectory following controller (NCTF controller) as a practical and user-friendly controller design method for PTP positioning. In this paper, the improvement of the NCTF controller design method for precision motion control is introduced. The improved controller has an almost similar structure and is designed using the similar design procedure to the previous one. The characteristics of the improved control method are experimentally evaluated with two ball screw mechanisms from tracking, contouring and positioning results. The experimental results show the improved NCTF control systems generally achieve better tracking and contouring performances than a conventional PI-D and NCTF control systems. In 0.25Hz and 100nm radius circular motion, the experimental tracking errors were smaller than 10nm.
