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Modal-space control of a linear motor-driven Gantry system

: Peukert, Christoph; Pöhlmann, Patrick; Merx, Marcel; Müller, Jens; Ihlenfeldt, Steffen


MM Science journal (2019), November 2019, pp.3285-3292
ISSN: 1803-1269 (Print)
ISSN: 1805-0476 (Online)
International Conference on High Speed Machining (HSM) <15, 2019, Prague>
Journal Article, Conference Paper
Fraunhofer IWU ()
modal control; active vibration control; machine tool; cascaded control; linear motor; Inertial Actuator

This paper presents the modal control applied to motion systems, in particular for machine tools. This control approach is particularly suitable for over-actuated systems that have more actuators than degrees of freedom. By using the modal approach, the parameterisation of the control loops is simplified since each control loop corresponds to a specific eigenmode. A four-variable modal control of a linear motor-driven gantry system equipped with additional active damping devices is presented to achieve active vibration suppression. This approach is experimentally compared with a conventional control method that does not consider the eigenmodes of the system. The influence of the vibration controllers on the closed position loops is investigated.