PROJECT TITLE :

VCM controller design with enhanced disturbance decoupling for precise automated manufacturing processes

ABSTRACT :

During this study, a controller design of a voice coil motor (VCM) with enhanced disturbance rejection (or disturbance input decoupling) performance, especially for precise automated manufacturing processes, is proposed. The proposed disturbance decoupling ways are twofold: (1) a dynamic stiffness-enhanced position-velocity controller and (2) state-filter-based disturbance input decoupling during a force control mode. Initial, a state-feedback vogue position-velocity controller is meant to meet tracking needs and improve disturbance rejection in VCM management. During this control structure, the conflict in requirements between command tracking and disturbance rejection will be considerably alleviated. This style property provides powerful insights into achieving precise position control. To reinforce the force control accuracy, a disturbance state filter for force management is also applied to estimate and compensate for the varying dynamics of VCM systems, such as nonlinearly variable masses and other uncertainties. The state filter estimation accuracy within the presence of system parameter errors is absolutely analysed. Yet, each disturbance decoupling strategies are computationally economical and robust to other parameter errors. The proposed algorithms are implemented during a developed VCM actuator and verified to be appropriate for a VCM drive system with unknown disturbances.