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Mathematical Problems in Engineering
Volume 2014, Article ID 398205, 10 pages
Research Article

A Predictive Velocity Observer in Wire Bonder’s Control System

1Department of Control and Mechatronics Engineering, Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, China
2PKU-HKUST Shenzhen Hong Kong Institution, High-Tech Industrial Park, 2nd Floor, West Wing, IER Building, Nanshan, Shenzhen 518057, China
3Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong

Received 25 March 2014; Accepted 9 July 2014; Published 4 August 2014

Academic Editor: Jingjing Zhou

Copyright © 2014 Lei Zhou et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Wire bonder is a typical high speed machine. The motion speed of XY-stage is the key factor of bonding efficiency. However, phase lag elements in the servo system limit the bandwidth and slow down the system’s response. A predictive velocity observer is proposed to compensate for those phase lags. Then, the velocity loop controller can be designed as for a servo system which does not have those phase lags. Loop gains are enlarged and bandwidth is enlarged correspondingly. Then, the motion speed is improved and settling time is decreased. Experiment results verify that the predictive velocity observer provided a significant phase lead and the performance of wire bonder is improved.