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1、NewApplicationsofLinearMotorsandAdvancedControlTechnologyHendrikVanBrussel,JanSweversKatholiekeUniversiteitLeuven,BelgiumDivisionofProductionengineering,MachinedesignandAutomation(PMA)Hendrik.VanBrussel@mech.kuleuven.ac.be1.AbstractLinearmotorsexperiencearealbreakthroughinmachinetools.Theyhave
2、outspokenadvantagescomparedtotraditionalrotaryservomotor/ballscrewdrives,themainonebeingthehighcontrolbandwidthsthatcanbeachieved.Therearealsodrawbackshowever,e.g.loadvariationsanddisturbancesaredirectlyfeltbythemotor.Robustoradaptivecontrollersareneededtocopewiththesedrawbacks.Thedifferenttyp
3、esoflinearmotorsandtheirsalientfeaturesarepresentedinthefirstpartofthepaper.Consequentlyanumberofinnovativerobust/adaptivecontrolalgorithmsarepresented,suchasH-infinityandslidingmodecontrollers.Therobustnessofthesecontrollersagainstdisturbancesofseveralkinds(cuttingforces,friction,cogging,chan
4、geinloadinertia)aredemonstratedbymeansofreal-lifeexamples.2.IntroductionTheuseoflinearmotorsinmachinetoolsisontheupswing.Manymachinetoolmanufacturersalreadyoffermachineswithlineardrives.Linearmotorsareparticularlysuitableforfeeddrivesinhigh-precision,high-speed,high-reliabilitymachinetools.The
5、reareseveraloutspokenadvantagesinusinglinearmotordrives.Thefirstisthatveryhighpositioningloopbandwidthscanbeobtained.Thisisduetothefactthatthedynamicsofthemovingbodyareverysimple.Infact,amachinetooltableonrollerguideways,directlydrivenbyalinearmotor,isnothingmorethanadampedmass,subjecttoaforce
6、.Thelow-frequencystructuralresonances,comingfromleadscrewtransmissionsintraditionalrotaryservomotordrives,andlimitingthepositioningbandwidth,arecompletelyabsentinlineardrives.Theremainingresidualmodes,e.g.comingfromthepositionsensorconnections,occuratveryhighfrequenciesandhavenodetrimentalinfl
7、uenceonthebandwidth.Thesehighercontrolbandwidths,however,requireahigherencoderbandwidthandservosamplingfrequency.Asecondadvantageisthatfrictionandbacklashintransmissionmechanisms(gearboxes,harmonicdrives,rack-and-pinionsystems,etc)isabs
