New control for two mass positioning system using nominal characteristic trajectory following controller

摘要

In this study, a nominal characteristic trajectory following (NCTF) controller for point-to-point (PTP) positioning system is introduced for two mass systems and its performance is evaluated.The NCTF controller consists of a nominal characteristic trajectory (NCT) and a compensator. The objective of the NCTF controller is to make the object motion follow the NCT and end at its origin.Therefore, the NCT is used as an intended object motion and the compensator is used to make the motion of the controlled object follow the NCT.The NCTF controller is designed based on a simple open-loop experiment of the object and no information except the NCT is necessary for controller design. The effectiveness of the NCTF controller is evaluated and discussed through simulations.The effect of the design parameters on the robustness of the NCTF controller to inertia and friction variations is evaluated and the influence of saturation on the positioning performance is examined.