This paper proposed a robust adaptive neural network control for an XY table. The XY table composes of two AC servo drives controlled independently. The neural network with radial basis function is employed for veloci...This paper proposed a robust adaptive neural network control for an XY table. The XY table composes of two AC servo drives controlled independently. The neural network with radial basis function is employed for velocity and position tracking control of AC servo drives to improve the system’s dynamic performance and precision. A robust adaptive term is applied to overcome the external disturbances. The stability and the convergence of the system are proved by Lyapunov theory. The proposed controller is implemented in a DSP-based motion board. The validity and robustness of the controller are verified through experimental results.展开更多
In order to compensate for the limitation of conventional XY table used in semiconductor integrated circuits(IC) packaging and improve its speed and accuracy, a voice coil actuator (VCA) direct-drive high-speed and pr...In order to compensate for the limitation of conventional XY table used in semiconductor integrated circuits(IC) packaging and improve its speed and accuracy, a voice coil actuator (VCA) direct-drive high-speed and precision positioning XY table used in wire bonder was proposed. Also, a novel flexible decoupling mechanism was used in the positioning table, and the small moving mass enabled the positioning table to move at high speed and precision. XY table deformation interference caused by assembly error and instant interference generated by dynamic load moving with high speed and acceleration can be eliminated through the flexible decoupling mechanism. Considering the positioning table as lumped mass spring system,the dynamic equations of the mechanical system and the VCA were built according to the Newton mechanics principle and electromagnetic theory. Then the electromechanical coupling control model of the system was created through Laplace transform. Based on displacement PID controller, the loop-locked controlling algorithm of the positioning system was investigated. The dynamic control algorithm effectively improved the system dynamic performance. The precision test of the prototype machine was carried out, and the results validated the correctness of the model and the theory. Compared with traditional XY table, the table has higher speed, acceleration and positioning accuracy.展开更多
XY table automated assembly machines ensure time saving and quality improving in the electronics industry. Recently, due to the need of higher operation speeds and lighter machines in PCB （Printed Circuit Board） ass...XY table automated assembly machines ensure time saving and quality improving in the electronics industry. Recently, due to the need of higher operation speeds and lighter machines in PCB （Printed Circuit Board） assembly, a challenging problem has arisen which is the table positioning vibration. The high speed with the machine flexibility, make the positioning vibration inevitable although the inner control. The positioning vibration is to be reduced otherwise the machine becomes useless. Firstly, the machine is modeled, the positioning vibration is formulated, and then analyzed. Secondly, using the analysis, three direct control methods are identified to decrease the positioning vibration, they are based on the kinematics, dynamics, and operation of the machine. Thirdly, the methods are examined numerically to evaluate their efficiency. Lastly, the identified methods are discussed to conclude on their application. The results are a real contribution in the vibration control of XY table automated assembly machines, which is classified as industrial knowhow.展开更多
文摘This paper proposed a robust adaptive neural network control for an XY table. The XY table composes of two AC servo drives controlled independently. The neural network with radial basis function is employed for velocity and position tracking control of AC servo drives to improve the system’s dynamic performance and precision. A robust adaptive term is applied to overcome the external disturbances. The stability and the convergence of the system are proved by Lyapunov theory. The proposed controller is implemented in a DSP-based motion board. The validity and robustness of the controller are verified through experimental results.
基金Supported by National Natural Science Foundation of China (No50505032)
文摘In order to compensate for the limitation of conventional XY table used in semiconductor integrated circuits(IC) packaging and improve its speed and accuracy, a voice coil actuator (VCA) direct-drive high-speed and precision positioning XY table used in wire bonder was proposed. Also, a novel flexible decoupling mechanism was used in the positioning table, and the small moving mass enabled the positioning table to move at high speed and precision. XY table deformation interference caused by assembly error and instant interference generated by dynamic load moving with high speed and acceleration can be eliminated through the flexible decoupling mechanism. Considering the positioning table as lumped mass spring system,the dynamic equations of the mechanical system and the VCA were built according to the Newton mechanics principle and electromagnetic theory. Then the electromechanical coupling control model of the system was created through Laplace transform. Based on displacement PID controller, the loop-locked controlling algorithm of the positioning system was investigated. The dynamic control algorithm effectively improved the system dynamic performance. The precision test of the prototype machine was carried out, and the results validated the correctness of the model and the theory. Compared with traditional XY table, the table has higher speed, acceleration and positioning accuracy.
文摘XY table automated assembly machines ensure time saving and quality improving in the electronics industry. Recently, due to the need of higher operation speeds and lighter machines in PCB （Printed Circuit Board） assembly, a challenging problem has arisen which is the table positioning vibration. The high speed with the machine flexibility, make the positioning vibration inevitable although the inner control. The positioning vibration is to be reduced otherwise the machine becomes useless. Firstly, the machine is modeled, the positioning vibration is formulated, and then analyzed. Secondly, using the analysis, three direct control methods are identified to decrease the positioning vibration, they are based on the kinematics, dynamics, and operation of the machine. Thirdly, the methods are examined numerically to evaluate their efficiency. Lastly, the identified methods are discussed to conclude on their application. The results are a real contribution in the vibration control of XY table automated assembly machines, which is classified as industrial knowhow.
