Simple adaptive control for industrial feed drive systems using a jerk-based augmented output signal

In the manufacturing industry, there is an extensive use of high-precision motion control techniques to achieve high performance in the feed drive system. This study deals with the simple adaptive control (SAC) technique for simultaneous high-precision motion and energy-saving of the feed drive system. The application of the SAC requires that the “almost strictly positive real (ASPR)” property is satisfied and there is a command general tracking solution for the plant and the reference model. This paper presents to use the jerk-based augmented output signal for the ASPR property. The proposed approach allows the SAC to track the desired signal at high frequencies more precise and is achieved by placing the zeros of the system at effective locations. To verify the feasibility of the proposed approach, simulation and experiment are conducted. The results are compared with those of the commonly used parallel feedforward compensation (PFC) approach. Experimental results revealed that the proposed approach reduced the tracking error by about 80% compared to PFC without any additional control input. Moreover, the proposed approach has been proved to be energy-efficient by about 21% than PFC under similar tracking conditions.