Fast Precision Positioning of a Ball Screw Mechanism Based on Practical NCTF Control
Kaiji Sato and Guilherme Jorge Maeda
Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology
4259 Nagatsuta, Midori-ku, Yokohama 226-8502, Japan
We discuss improvements in a practical nominal characteristic trajectory-following (NCTF) controller for fast positioning. The NCTF controller consists of a nominal characteristic trajectory (NCT) as the movement reference and a PI compensator making object movement follow the NCT. It is easily designed without an exact model, known parameters, or much control theory knowledge. The step speed of NCTF control depends on the NCT. We introduce two ways to construct the NCT for high-speed step movement, – fast positioning is introduced and the performances by two NCTs thus constructed are compared to clarify a more suitable way using two ball screw mechanisms. Experiments in positioning with the NCT by the suitable way are evaluated, whose results show that the NCT increases step speed while preserving the robustness of feature step height and movable mass changes.
-  K. Sato, “Trend of Precision Positioning Technology” Proc. of the COBEM2005, CD-ROM:COBEM2005-0542.pdf, 2005.
-  T. Oiwa and M. Katsuki, “Survey of Questionnaire on Ultra-precision Positioning” J. of JSPE, 74-10, pp. 1027-1032, 2008 (in Japanese).
-  Wahyudi, K. Sato, and A. Shimokohbe, “Characteristics of Practical Control for Point-To-Point (PTP) Positioning Systems Effect of Design Parameters and Actuator Saturation on Positioning Performance” Prec. Eng., 27-2, pp. 157-169, 2003.
-  K. Sato, K. Nakamoto, and A. Shimokohbe, “Practical Control of Precision Positioning Mechanism with Friction” Prec. Eng., 28-4, pp. 426-434, 2004.
-  G. J. Maeda and K. Sato, “Practical Control Method for Ultra-Precision Positioning Using a Ballscrew Mechanism” Prec. Eng., 32-4, pp. 309-318, 2008.
-  K. Sato and G. J. Maeda, “Practical Ultraprecision Positioning of a Ball Screw Mechanism” Int. Journal of Precision Engineering and Manufacturing, 9-2, pp. 44-49, 2008.
-  K. Sato and G. J. Maeda, “A practical control method for precision motion - Improvement of NCTF control method for continuous motion control” Proc. Eng., 33-2, pp. 175-186, 2009.
-  J. Ishikawa, T. Hattori, and M. Hashimoto, “High-Speed Positioning Control for Hard Disk Drives Based on Two-Degree-of-Freedom Control,” Trans. JSME Series C, 62(597), pp. 1848-1856, 1996 (in Japanese).
-  S. Nakagawa, T. Yamaguchi, H. Numasato, H. Hosokawa, and H. Hirai, “Improving the Disturbance Resistance of Magnetic Disk Drives by Using Anti-Windup and Model Following Controls with Initial Value Compensation” JSME Int. J. Series C, 43-3, pp. 618-624, 2000.
-  K. Yoshida, A. Furutani, and S. Futami, “State Space Trajectory Tracking Control for FAST Nanometer Positioning” Proc. of 7th IPES, pp. 202-211, 1993.
-  Wahyudi, “New practical control of PTP positioning systems” Doctor’s thesis, Tokyo Institute of Technology, March 2002.
-  R. C. Dorf and R. H. Bishop, “Modern Control Systems, 10th Edition,” Prentice Hall, 2005.