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The traditional control of high speed motion control system usually employs feedforward control to provide phase advance. In this paper, we proposed a predictive observer to compensate phase lags in the feedback loop. By employing the observer, the velocity and the position controller can be designed as for a plant does not have phase lag elements. Then, loop gains can be enlarged and motion speed can be improved. There are two sets of parameters need to be set, the controller’s and the observer’s. We applied least square algorithm for model estimation and simplex method for controller auto tuning. The algorithms were tested in simulations. The results show that the motion performance is extremely improved by the predictive observer. The accuracy of the estimated model has errors less than 2.5%. The preferred motion performance can be got according to the auto-tuned control parameters which implies that the strategy for parameters setting works well.

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