Tracking Control of a Direct Drive System

In manufacturing industries, high precision positioning performance is one of the key features that investors are looking for. Unlike the conventional geared motors used in most machining tools, direct drive motors do not come with gears; the load is directly connected to the rotor.  Through eliminating the use of gears, direct drive motors got rid of problems such as backlash and non-linear frictions and thus capable in achieving higher precision positioning performance compared to conventional geared motors. Voice coil motor and linear motors are some of the examples of direct drive motors. However, since the load is directly coupled with the rotor, the rotor inertia might be reduced and therefore affect the positioning performance of the system.

In this research, the dynamic characteristic of direct drive system is investigated. Besides, a practical control is proposed to achieve high positioning performance of the system

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