Practical and Intuitive Controllers for Precision Motion: AR-CM NCTF Control of Ball Screw Mechanism
Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, 4259 Nagatsuta Midori-ku, Yokohama 226-8502, Japan
This paper describes the implementation of the Acceleration Reference Continuous Motion nominal characteristic trajectory following (AR-CM NCTF) control to a ball screw mechanism, a typical positioning mechanism with friction characteristics, and its effectiveness is demonstrated. The AR-CM NCTF control is an enhanced continuous-motion NCTF (CMNCTF) control proposed as a practical motion control. First, the basic concept of the AR-CM NCTF control and the specific design procedure of the controller are introduced. The procedure and the labor for the controller design are essentially free from the presence of friction characteristics. Then, the experimental positioning and tracking control results with the AR-CM NCTF controller are shown. The experimental results prove that the AR-CM NCTF control reduces vibration and improves motion accuracy.
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