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《Transactions of China Electrotechnical Society》 2006-06
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Linear Servo Robust Tracking Control Based on DOB and ZPETC to Improve the Contour Machining Precision

Zhao Ximei Guo Qingding (Shenyang University of Technology Shenyang 110023 China)  
To improve the contour machining precision in high precision linear servo system, a robust tracking control strategy based on combining zero phase error tracking controller (ZPETC) with the disturbance observer (DOB) is proposed in this paper. ZPETC is designed to ensure that the system has fast tracking performance and implements exactly tracking; While robust feedback controller based on DOB can overcome influences of the uncertainties of the parameters perturbation, the external load disturbances, unmodelled dynamic and mechanical nonlinearity, and achieve the stability and robustness of the system. The simulation results show that the proposed control scheme not only can enhance the fast tracking performance in the linear servo system, but also has a strong robustness to parametric variations and resistance disturbances. Thus the contour error is reduced effectively, and the precision of the contour machining is improved greatly.
【Fund】: 国家自然科学基金资助项目(50075057)。
【CateGory Index】: TM921.541
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