Abstract
In accurate and fast positioning application such as IC packaging, conventional PID or lead-lag compensator algorithm lacks robustness in providing good and consistent performance. Due to machine and driver non-linearities the controller often suffers from de-tuning as a result of variations in system parameters. This paper presents an account of employing dual-rate self-tuning control on a brushless servo driver for a high performance tracking manipulator to overcome the problem mentioned above. Recursive Instrumental Variable Estimation (RIVE) is used for on-line estimation. The self-tuning controller includes a PID Controller with inertia and friction compensation for optimal tracking performance.
| Original language | English |
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| Title of host publication | Proceedings of the International Conference on Power Electronics and Drive Systems |
| Publisher | IEEE |
| Pages | 297-301 |
| Number of pages | 5 |
| Publication status | Published - 1 Jan 1997 |
| Externally published | Yes |
| Event | Proceedings of the 1997 2nd International Conference on Power Electronics and Drive Systems, PEDS. Part 2 (of 2) - Singapore, Singapore Duration: 26 May 1997 → 29 May 1997 |
Conference
| Conference | Proceedings of the 1997 2nd International Conference on Power Electronics and Drive Systems, PEDS. Part 2 (of 2) |
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| Country/Territory | Singapore |
| City | Singapore |
| Period | 26/05/97 → 29/05/97 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering