馬達智財聯盟 Motor Intellectual Property Alliance

作者	Y. H. Huang, Y. H. Huang, S. Y. Lee, C. L. Chen and M. C. Tsai
摘要	Position tracking accuracy of an XY table plays a crucial role for precise operation in servomechanism applications. The 2-dimensional circular trajectory is usually employed to evaluate the positioning performance. However, it is difficult to track the sinusoidal command reference for each axis by conventional control approaches. This study presents a cross-coupled proportional-resonant (PR) control structure which involves a proportional gain for dynamic tracking response and a replicated model to an exogenous sinusoidal signal. Based on the internal model principle, the proposed control system is guaranteed to achieve the zero steady-state error. The feasibility of the proposed control approach is verified by the theoretical analysis and experimental results.
關鍵字	XY table positioning control; PR controller; cross-coupled control