A concurrent design of input shaping technique and a robust control for high-speed/high-precision control of a chip mounter

摘要

Input Shaping Technique (IST) and Time Delay Control (TDC), a robust feedback control law, were combined to achieve fast and precise point-to-point motion of a chip mounter. TDC was used as a feedback control to overcome disturbances and parameter variations, an IST was used to suppress the residual vibration induced in the closed loop system. TDC was designed first for the machine, and a discrete version of IST was designed on the basis of the closed-loop dyanmics. In the design of TDC, a better set of gains was available thanks to the use of IST than TDC alone; in the design of IST, too, a better design was possible than IST alone.