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Multi-mode sliding mode control for precision linear stage based on fixed or floating stator.

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This study introduces a Multi-Mode Sliding Mode Control (MMSMC) for Voice Coil Motor (VCM) linear motion stages. The novel approach enhances positioning accuracy and tracking performance, especially with a floating stator configuration.

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Area of Science:

  • Robotics and Control Systems
  • Mechatronics Engineering
  • Precision Motion Control

Background:

  • Voice Coil Motors (VCMs) are crucial for precision linear motion stages.
  • Conventional VCM control methods can be limited in performance.
  • Regulated stators offer potential for enhanced VCM control.

Purpose of the Study:

  • To evaluate the control performance of a linear motion stage driven by a VCM with a regulated stator.
  • To design and implement a Multi-Mode Sliding Mode Control (MMSMC) strategy.
  • To compare the performance of MMSMC with conventional methods, particularly in a floating-stator configuration.

Main Methods:

  • A novel VCM design with an adjustable stator (floating or fixed) was utilized.
  • A Multi-Mode Sliding Mode Control (MMSMC) was developed, integrating conventional Sliding Mode Control (SMC) and Integral Sliding Mode Control (ISMC).
  • Control switching between SMC and ISMC was implemented based on an error threshold, employing a smooth function to mitigate chattering.

Main Results:

  • Experimental results demonstrated improved positioning accuracy of the linear motion stage.
  • Enhanced tracking performance was observed with the MMSMC approach.
  • The floating-stator configuration, combined with MMSMC, yielded superior control outcomes.

Conclusions:

  • The proposed MMSMC strategy effectively controls linear motion stages driven by VCMs.
  • The adjustable stator, particularly the floating-stator mode, significantly benefits control performance.
  • MMSMC offers a robust solution for achieving high-precision motion control in VCM systems.