Experimental Assessment of PID Control with Feedforward Compensation of Linear Motors

L. Bruzzone and R.M. Molfino (Italy)


Control, linear motor, PID, feedforward compensation


The paper presents the results of experimental tests on a prismatic axis actuated by a brushless linear motor; standard high-precision linear bearings are used; an optical linear encoder provides 0.1 mm resolution along the 75 mm range of motion. A PID scheme with velocity and acceleration feedforward compensation is used for the position control loop. The aim of the work is to investigate the influence of friction on the system behaviour under different load conditions of the linear bearings. The results show that the linear motor orientation with respect to the gravity field influences both the dynamic and static behaviour; however, the system works properly, with positioning accuracy of about 1 mm, using the same set of gains in all the configurations.

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