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Cascade Control for Two-Axis Position Mechatronic Systems
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DOI：10.3390/fractalfract7020122.png)
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摘要
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The current paper proposes an extension for two controller design procedures for a two-axis positioning mechatronic system, followed by a comparison between them. As such, the first method consists in formulating an optimization problem in terms of linear matrix inequalities (LMIs) in order to impose the location of the closed-loop poles, considering an uncertain model of such a system. The uncertain model is treated using various forms of linear differential inclusions (LDIs), namely, polytopic LDI (PLDI) and diagonal norm-bound LDI (DNLDI). Additionally, the problem regarding the command signal constraints is characterized in terms of LMIs. The imposed structure of the controller is a cascade one, with a PI controller for the position loop and a P controller for the velocity loop, having an additional feedforward term. On the other hand, the second method consists in designing a cascade controller with an inner P controller, as in the previous method, the outer controller being a fractional-order I lIDlD ( FO-ID) controller. In terms of degrees of freedom, both methods present four degrees of freedom for each axis. The presented controller design procedures will be applied for a numerical example of such a positioning system, and a comparison of the obtained performance metrics will be performed.
Keyword:
LMIs
D-region
fractional-order controller
postion control
mechatronic system
期刊
IF:
3.3
论文数:
4.4K
被引数:
7.6K
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