Authors:
Kuo-Ming Chang
1
;
Huang-Sheng Kung
1
and
Yung-Tien Liu
2
Affiliations:
1
National Kaohsiung University of Applied Sciences, Taiwan
;
2
National Kaohsiung First University of Science and Technology, Taiwan
Keyword(s):
Discrete Sliding Mode Control, Voice-Coil Motor (VCM), Proportional-Integral Observer, Precision Positioning.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mechatronics Systems
;
Modeling, Analysis and Control of Discrete-event Systems
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
In this paper, a discrete control system is implemented for a positioning device using a voice-coil motor
(VCM). The VCM positioning system is configured with a proportional-Integrator observer (PIO) and
discrete sliding mode controller (DSMC). Since the PIO could estimate system unmeasurable parameters for
compensation, the implemented control system subject to uncertainty might feature high robustness.
Through experimental examinations of step response for a sliding stage under dry friction and with a mass
of 728 g, the position error of 7.3 µm was obtained for a step command of 3 mm. The percentage of position
error is 0.25%. Compared with that obtained by using the PID controller is 0.57%, the superiority of the
implemented control system is demonstrated.