Disturbance Observer Based Decoupling Control to Suppress Rotational Motion of Cross-coupled Gantry Stage

Hanul Jung; Sehoon Oh

doi:10.1109/ISIE.2019.8781500

Disturbance Observer Based Decoupling Control to Suppress Rotational Motion of Cross-coupled Gantry Stage

Hanul Jung
, Sehoon Oh

Department of Robotics and Mechatronics Engineering

Daegu Gyeongbuk Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

Gantry stages are being used in a variety of industrial applications requiring high speed and high accuracy. A cross-coupled gantry stage driven by two linear motors is disturbed by the cogging force because of the large thrust required and the crossbeam connecting the two linear motors acts as a mechanical coupling, which has an adverse effect on the synchronous control performance of the two motors. Although there are cogging forces and mechanical couplings, the two linear motors in the cross-coupled gantry stage must operate synchronously. For this purpose, the dynamics of the cross-coupled gantry stage are separated into a linear mode and a rotational mode. The dynamics of each mode is applied to the proposed disturbance observer based decoupling controller. The feature of the proposed controller is that each mode is designed for a independent purpose. Therefore, the linear mode controller is designed to suppress the cogging force and the rotational mode controller is constructed to eliminate the influence of mechanical coupling.

Original language	English
Title of host publication	Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	503-508
Number of pages	6
ISBN (Electronic)	9781728136660
DOIs	https://doi.org/10.1109/ISIE.2019.8781500
State	Published - Jun 2019
Event	28th IEEE International Symposium on Industrial Electronics, ISIE 2019 - Vancouver, Canada Duration: 12 Jun 2019 → 14 Jun 2019

Publication series

Name	IEEE International Symposium on Industrial Electronics
Volume	2019-June

Conference

Conference	28th IEEE International Symposium on Industrial Electronics, ISIE 2019
Country/Territory	Canada
City	Vancouver
Period	12/06/19 → 14/06/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

Cross-coupled gantry stage
disturbance observer
mechanical coupling
motion decoupling control
rotational motion

Access to Document

10.1109/ISIE.2019.8781500

Cite this

Jung, H., & Oh, S. (2019). Disturbance Observer Based Decoupling Control to Suppress Rotational Motion of Cross-coupled Gantry Stage. In Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019 (pp. 503-508). Article 8781500 (IEEE International Symposium on Industrial Electronics; Vol. 2019-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2019.8781500

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title = "Disturbance Observer Based Decoupling Control to Suppress Rotational Motion of Cross-coupled Gantry Stage",

abstract = "Gantry stages are being used in a variety of industrial applications requiring high speed and high accuracy. A cross-coupled gantry stage driven by two linear motors is disturbed by the cogging force because of the large thrust required and the crossbeam connecting the two linear motors acts as a mechanical coupling, which has an adverse effect on the synchronous control performance of the two motors. Although there are cogging forces and mechanical couplings, the two linear motors in the cross-coupled gantry stage must operate synchronously. For this purpose, the dynamics of the cross-coupled gantry stage are separated into a linear mode and a rotational mode. The dynamics of each mode is applied to the proposed disturbance observer based decoupling controller. The feature of the proposed controller is that each mode is designed for a independent purpose. Therefore, the linear mode controller is designed to suppress the cogging force and the rotational mode controller is constructed to eliminate the influence of mechanical coupling.",

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Jung, H & Oh, S 2019, Disturbance Observer Based Decoupling Control to Suppress Rotational Motion of Cross-coupled Gantry Stage. in Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019., 8781500, IEEE International Symposium on Industrial Electronics, vol. 2019-June, Institute of Electrical and Electronics Engineers Inc., pp. 503-508, 28th IEEE International Symposium on Industrial Electronics, ISIE 2019, Vancouver, Canada, 12/06/19. https://doi.org/10.1109/ISIE.2019.8781500

Disturbance Observer Based Decoupling Control to Suppress Rotational Motion of Cross-coupled Gantry Stage. / Jung, Hanul; Oh, Sehoon.
Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 503-508 8781500 (IEEE International Symposium on Industrial Electronics; Vol. 2019-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Jung, Hanul

AU - Oh, Sehoon

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N2 - Gantry stages are being used in a variety of industrial applications requiring high speed and high accuracy. A cross-coupled gantry stage driven by two linear motors is disturbed by the cogging force because of the large thrust required and the crossbeam connecting the two linear motors acts as a mechanical coupling, which has an adverse effect on the synchronous control performance of the two motors. Although there are cogging forces and mechanical couplings, the two linear motors in the cross-coupled gantry stage must operate synchronously. For this purpose, the dynamics of the cross-coupled gantry stage are separated into a linear mode and a rotational mode. The dynamics of each mode is applied to the proposed disturbance observer based decoupling controller. The feature of the proposed controller is that each mode is designed for a independent purpose. Therefore, the linear mode controller is designed to suppress the cogging force and the rotational mode controller is constructed to eliminate the influence of mechanical coupling.

AB - Gantry stages are being used in a variety of industrial applications requiring high speed and high accuracy. A cross-coupled gantry stage driven by two linear motors is disturbed by the cogging force because of the large thrust required and the crossbeam connecting the two linear motors acts as a mechanical coupling, which has an adverse effect on the synchronous control performance of the two motors. Although there are cogging forces and mechanical couplings, the two linear motors in the cross-coupled gantry stage must operate synchronously. For this purpose, the dynamics of the cross-coupled gantry stage are separated into a linear mode and a rotational mode. The dynamics of each mode is applied to the proposed disturbance observer based decoupling controller. The feature of the proposed controller is that each mode is designed for a independent purpose. Therefore, the linear mode controller is designed to suppress the cogging force and the rotational mode controller is constructed to eliminate the influence of mechanical coupling.

KW - Cross-coupled gantry stage

KW - disturbance observer

KW - mechanical coupling

KW - motion decoupling control

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Jung H, Oh S. Disturbance Observer Based Decoupling Control to Suppress Rotational Motion of Cross-coupled Gantry Stage. In Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 503-508. 8781500. (IEEE International Symposium on Industrial Electronics). doi: 10.1109/ISIE.2019.8781500

Disturbance Observer Based Decoupling Control to Suppress Rotational Motion of Cross-coupled Gantry Stage

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