System identification, modeling and precision motion control of a linear motor drive stage

Abstract

This paper studies the system identification, modeling and precision motion control of coreless linear motor drive stage which offers several advantages over its rotary counterparts in many applications requiring linear motion by eliminating mechanical transmission mechanisms. System identification is first carried out to capture the system dynamics characteristics. And with a precision motion control oriented modeling in mind, a second-order nonlinear model with unknown parameters and bounded disturbances is then constructed to describe the system dynamics. Compared with PID control, an adaptive robust controller (ARC) is then proposed and applied to the linear motor drive stage for good tracking performance under both parametric uncertainties and unknown nonlinearities. Experimental results obtained on a linear motor drive stage are presented to verify the effectiveness and good tracking performance of the proposed ARC scheme.