Research Article
A Predictive Velocity Observer in Wire Bonder’s Control System
Table 1
Parameters of the platform.
| | Parameters | Units | Value |
| | Force constant () | N/A | 43 | | Back EMF () | V/(m/s) | 43 | | Resistance () | Ohms | 3.5 | | Armature inductance () | H | | | Mass of load () | Kg | 5.3244 | | Continuous working voltage | V d.c. | 70 | | Continuous working current | A | 4.1 | | Peak velocity | m/s | 10 | | Peak current | A | 10.2 | | Electrical time constant | s | | | Resolution of encoder | m/pulse | | | Resolution of current measurement | A | | | Resolution of voltage reference | V | 0.1 | | Resolution of current command | A | | | Resolution of velocity command | m/s | | | Sampling time of current loop | s | | | Sampling time of velocity loop | s | | | Sampling time of position loop | s | | | Transforming time of encoder signal | s | |
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