Positioning Control Of An Ironless Linear Motor With Continuous Motion Nominal Characteristic Trajectory Following Controller

Ironless Permanent Magnet Linear Motors (IPMLM) are abundantly applied in various automated industries due to its capability of achieving high speed and high accuracy motions. Through the removal of transmission elements, the positioning performances of IPMLM are subjected by parameter changes and e...

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Main Author:	Foo,, Jia En
Format:	Thesis
Language:	English English
Published:	2017
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utem.edu.my/id/eprint/24717/1/Positioning%20Control%20Of%20An%20Ironless%20Linear%20Motor%20With%20Continuous%20Motion%20Nominal%20Characteristic%20Trajectory%20Following%20Controller.pdf http://eprints.utem.edu.my/id/eprint/24717/2/Positioning%20Control%20Of%20An%20Ironless%20Linear%20Motor%20With%20Continuous%20Motion%20Nominal%20Characteristic%20Trajectory%20Following%20Controller.pdf
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id	my-utem-ep.24717
record_format	uketd_dc
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Chong, Shin Horng
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Foo,, Jia En Positioning Control Of An Ironless Linear Motor With Continuous Motion Nominal Characteristic Trajectory Following Controller
description	Ironless Permanent Magnet Linear Motors (IPMLM) are abundantly applied in various automated industries due to its capability of achieving high speed and high accuracy motions. Through the removal of transmission elements, the positioning performances of IPMLM are subjected by parameter changes and external disturbances, which is relatively difficult to model accurately. Besides that, since the IPMLM are often used in long working range applications, they are easily influenced by the saturation effect of the system, and may cause large overshoot. Therefore, in this research, a Continuous Motion-Nominal Characteristic Trajectory Following (CM-NCTF) controller is proposed for positioning control of an IPMLM. While the CM-NCTF controller was applied in various mechanism, the performance of CM-NCTF controller has yet to be validated for positioning control of IPMLM. The proposed controller consists of two components: A Nominal Characteristic Trajectory (NCT) and a proportional-plus-integral (PI) compensator. The NCT works as a motion reference for the IPMLM, where the PI compensator makes the system motion follows the constructed NCT. The NCT is constructed on a phase plane using the decelerating velocity of the IPMLM and its corresponding displacement in open loop configuration. This step enables the NCT to capture the nonlinearities of the IPMLM, without having to model the nonlinearities additionally. The PI compensator is designed using information from the NCT and open loop response of the IPMLM. A conditional freeze anti-windup is added to the PI compensator to eliminate actuator saturation effect, particularly due to the large integral gain, and due to large working range motion. The positioning performance in point-to-point and tracking motion is examined and compared to a Proximate Time Optimal Servomechanism (PTOS) controller experimentally. Experimental results show that the CM-NCTF controller does not exhibit any overshoot or steady state error at all, and has 370 % faster rise time than the PTOS controller at smaller displacement. In tracking motion, the CM-NCTF controller performs better than the PTOS controller, with at least 530 % improvement of tracking accuracy at small displacement, and 2400 % improvement of tracking accuracy at large displacement. In the evaluation of robustness against mass changes, experimental results and sensitivity analysis show that the CM-NCTF controller is robust towards mass variation as compared to the PTOS controller. In conclusion, the positioning performance of the CM-NCTF controller is validated on an IPMLM with high positioning and robust performance in the presence of mass variation as compared to PTOS controller, with no occurrence of actuator saturation problem.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Foo,, Jia En
author_facet	Foo,, Jia En
author_sort	Foo,, Jia En
title	Positioning Control Of An Ironless Linear Motor With Continuous Motion Nominal Characteristic Trajectory Following Controller
title_short	Positioning Control Of An Ironless Linear Motor With Continuous Motion Nominal Characteristic Trajectory Following Controller
title_full	Positioning Control Of An Ironless Linear Motor With Continuous Motion Nominal Characteristic Trajectory Following Controller
title_fullStr	Positioning Control Of An Ironless Linear Motor With Continuous Motion Nominal Characteristic Trajectory Following Controller
title_full_unstemmed	Positioning Control Of An Ironless Linear Motor With Continuous Motion Nominal Characteristic Trajectory Following Controller
title_sort	positioning control of an ironless linear motor with continuous motion nominal characteristic trajectory following controller
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty of Electrical Engineering
publishDate	2017
url	http://eprints.utem.edu.my/id/eprint/24717/1/Positioning%20Control%20Of%20An%20Ironless%20Linear%20Motor%20With%20Continuous%20Motion%20Nominal%20Characteristic%20Trajectory%20Following%20Controller.pdf http://eprints.utem.edu.my/id/eprint/24717/2/Positioning%20Control%20Of%20An%20Ironless%20Linear%20Motor%20With%20Continuous%20Motion%20Nominal%20Characteristic%20Trajectory%20Following%20Controller.pdf
_version_	1747834094490746880
spelling	my-utem-ep.247172021-10-05T12:43:01Z Positioning Control Of An Ironless Linear Motor With Continuous Motion Nominal Characteristic Trajectory Following Controller 2017 Foo,, Jia En TK Electrical engineering. Electronics Nuclear engineering Ironless Permanent Magnet Linear Motors (IPMLM) are abundantly applied in various automated industries due to its capability of achieving high speed and high accuracy motions. Through the removal of transmission elements, the positioning performances of IPMLM are subjected by parameter changes and external disturbances, which is relatively difficult to model accurately. Besides that, since the IPMLM are often used in long working range applications, they are easily influenced by the saturation effect of the system, and may cause large overshoot. Therefore, in this research, a Continuous Motion-Nominal Characteristic Trajectory Following (CM-NCTF) controller is proposed for positioning control of an IPMLM. While the CM-NCTF controller was applied in various mechanism, the performance of CM-NCTF controller has yet to be validated for positioning control of IPMLM. The proposed controller consists of two components: A Nominal Characteristic Trajectory (NCT) and a proportional-plus-integral (PI) compensator. The NCT works as a motion reference for the IPMLM, where the PI compensator makes the system motion follows the constructed NCT. The NCT is constructed on a phase plane using the decelerating velocity of the IPMLM and its corresponding displacement in open loop configuration. This step enables the NCT to capture the nonlinearities of the IPMLM, without having to model the nonlinearities additionally. The PI compensator is designed using information from the NCT and open loop response of the IPMLM. A conditional freeze anti-windup is added to the PI compensator to eliminate actuator saturation effect, particularly due to the large integral gain, and due to large working range motion. The positioning performance in point-to-point and tracking motion is examined and compared to a Proximate Time Optimal Servomechanism (PTOS) controller experimentally. Experimental results show that the CM-NCTF controller does not exhibit any overshoot or steady state error at all, and has 370 % faster rise time than the PTOS controller at smaller displacement. In tracking motion, the CM-NCTF controller performs better than the PTOS controller, with at least 530 % improvement of tracking accuracy at small displacement, and 2400 % improvement of tracking accuracy at large displacement. In the evaluation of robustness against mass changes, experimental results and sensitivity analysis show that the CM-NCTF controller is robust towards mass variation as compared to the PTOS controller. In conclusion, the positioning performance of the CM-NCTF controller is validated on an IPMLM with high positioning and robust performance in the presence of mass variation as compared to PTOS controller, with no occurrence of actuator saturation problem. 2017 Thesis http://eprints.utem.edu.my/id/eprint/24717/ http://eprints.utem.edu.my/id/eprint/24717/1/Positioning%20Control%20Of%20An%20Ironless%20Linear%20Motor%20With%20Continuous%20Motion%20Nominal%20Characteristic%20Trajectory%20Following%20Controller.pdf text en public http://eprints.utem.edu.my/id/eprint/24717/2/Positioning%20Control%20Of%20An%20Ironless%20Linear%20Motor%20With%20Continuous%20Motion%20Nominal%20Characteristic%20Trajectory%20Following%20Controller.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=116890 mphil masters Universiti Teknikal Malaysia Melaka Faculty of Electrical Engineering Chong, Shin Horng 1. Alter, D.M. and Tsao, T.C., 1996. 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Positioning Control Of An Ironless Linear Motor With Continuous Motion Nominal Characteristic Trajectory Following Controller

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