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Precision positioning is critical to the performance of many applications, such as NC machine carving machine robot satellite positigtc. And then linear motor has the properties of precision position fast linearly motion and easy structure. So it is general used in industry. This paper discussed the precision position control of brushless PM DC motor system. The objective to control the position error of linear brushless PM DC motor within the smallest resolution of system encoder, in other word, it is 0 count.However, for the most mechanical system, the friction force existingin two contactting bodies. The friction force and induced nonlinearbehavior has important effects for heigh precision positioning control. It is obvious that, we will discuss both the macroscopicand microscopic behavior for control design purposes. In this thesis, we first introduce a general idea of linear motor. And develop a whole identification method to identify the parameters of linear brushless PM DC motor system. Then we model the static friction model of linear motor. And from the results of feasibility experiements, we discuse this possibility of prision position control is positive. After a series of systematic approach, we analyze both of the macroscopic and microscopic behavior to design ultra precise controller. By the above consequences, we designed three stages positioning controller. Finally, we have controlled the position error of linear motor within the smallest resolution of system encoder.
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