Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Development of Improved 5th Order Motion Profile for Low Vibration and High Speed

저진동, 고속특성을 가지는 개선된 5차 모션 프로파일의 설계

  • So, Byeong-Kwan (Department of Mechanical System Design Eng., Seoul National Univ. of Sci. & Tech.) ;
  • Tae, Won-Hyeong (Department of Mechanical System Design Eng., Seoul National Univ. of Sci. & Tech.) ;
  • Kim, Jung-Han (Department of Mechanical System Design Eng., Seoul National Univ. of Sci. & Tech.)
  • 소병관 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 태원형 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 김정한 (서울과학기술대학교 기계시스템디자인공학과)
  • Received : 2012.01.03
  • Accepted : 2012.06.06
  • Published : 2012.10.01
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Abstract

In this study, for reducing the residual vibration in high speed motion control stage, an improved 5th order polynomial motion profile was developed. When a stage is moving, the current through the motor coils has the same profile of input motion profile of acceleration, therefore the characteristics of the acceleration input profile directly affect on the performance of the amplifier that includes the current control loop. Commonly low cost amplifier and motor has a narrow current control bandwidth, therefore the proposed algorithm was designed based on this practical constraint. Simulation and experimental results showed that the proposed algorithm clearly has low residual vibration characteristics than conventional 5th order polynomial motion profile on the same drive condition.

Keywords

References

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