Intelligent Synchronous Control via Self-Tuning PID Controller for Gantry Position Stage

10.6567/IFToMM.14TH.WC.OS13.021

P. H. Chou；F. J. Lin；W. C. Chen；Y. M. Chen

Gantry position stage ； Proportional-integral-derivative (PID) ； Back-Propagation (BP) ； Self-Tuning

Proceedings of the 14th IFToMM World Congress

14th-2（2015 / 10 / 27）

655 - 659

英文

An intelligent synchronous control via self-tuning proportional-integral-derivative (PID) controller is proposed in this study for the precision contours tracking of a gantry position stage. First, a Lagrangian equation based 3-DOF dynamic model for the gantry position stage is derived. Then, to achieve accurate trajectory tracking performance with robustness, an intelligent control approach using self-tuning PID is proposed for the gantry position stage. In the proposed approach, the on-line learning algorithms of the self-tuning PID are derived using back-propagation (BP) method to guarantee the convergence of the network. Finally, some experimental results of the gantry position stage for optical inspection application are obtained to show the validity of the proposed control approach.