Consideration on control method of the large-sized gantry-type linear motor slider

摘要

A large-sized gantry-type linear motor slider has a unique problem, that being mechanical distortion, creating a repulsive force between each axis that may raise the output force over the rated limit for the motor. A method to suppress the repulsive force is proposed, and its effectiveness confirmed. However, when the feedback gain is set high, this linear motor slider generates vibrations as the feedback gain is near a resonance frequency. Conventionally, a disturbance observer is well known to suppress vibration. This study describes the implementation of the disturbance observer to the slider and reestablishes the effectiveness of this method of suppression.