Paper Info
Title
Development Of A Spherical Air Bearing Positioning System
Abstract
In line with the general trend of the automation, spherical motion systems are increasingly required in applications such as robot joints, manipulators, orientation control systems, and angular alignment systems. In this paper, a spherical air bearing positioning system (SABS) aiming at providing highly precise rotational motions in two degrees of freedom is designed. The SABS mainly consists of direct-drive voice coil actuators and pneumatic bearing. This paper presents the mechanical structure and control system of the SABS. The model of the SABS is identified based on adaptive control concepts. To eliminate the measurement noise, a noise filter is designed on the basis of the model. Then, an observer-based PID controller is designed and implemented on a dSPACE development card. The experiment results show that the designed controller can achieve higher precision and better tracking performance of about ten times compared to that from a traditional PID controller.
Year
DOI
Venue
2012
10.1109/TIE.2011.2171179
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Keywords
Field
DocType
Air bearing, filter design, PID control, position control, voice coil actuators (VCAs)
Control theory,PID controller,Control theory,Voice coil,Control engineering,Bearing (mechanical),Air bearing,Control system,Adaptive control,Engineering,Positioning system
Journal
Volume
Issue
ISSN
59
9
0278-0046
Citations 
PageRank 
References 
8
0.60
8
Authors
6
Name
Order
Citations
PageRank
Kok Kiong Tan192399.57
Su-Nan Huang250561.65
Wenyu Liang32011.00
Abdullah Al Mamun435043.65
Eng-Kiat Koh5101.84
Huixing X. Zhou6202.60