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Modeling and control of a belt-drive positioning table

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2 Author(s)
Weiping Li ; Dept. of Mech. Eng., Hong Kong Univ. of Sci. & Technol., Kowloon, Hong Kong ; Rehani, M.

Belt-drive positioning tables are widely used in industries because of their low cost and high-speed capability but they tend to have low precision due to belt flexibility. This paper presents a study on how to obtain reliable models of such tables and achieve precise position tracking during high-speed high-acceleration motion. A dynamic model was identified and several related issues examined. A model-based tracking control design was used to compensate for table inertia and friction. A new technique is proposed for tuning the feedback gains of the control system for optimal performance. The tracking controller is implemented on an industrial high-speed belt-drive table, with excellent results obtained

Published in:

Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on  (Volume:3 )

Date of Conference:

5-10 Aug 1996