Disturbance observer-based motion control of direct drive motors

This paper proposes simple and high performance path tracking control and force control based on an acceleration control. To realize the acceleration control, the disturbance feedback is necessary. In this paper, the disturbance observer whose inputs are a current reference to the power converter and a position signal by simple computation works as if it were a disturbance detector. The control poles of the observer are varied in accordance with the velocity of the motor for precise positioning. The proposed method is applied to the linear synchronous motor, which is used for direct drive linear motor, and is tested. The precise and high performance path tracking control and force control are realized.