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Precise Position Synchronous Control for Multi-Axis Servo Systems
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DOI：10.1109/TIE.2017.2652343.png)
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摘要
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This paper presents a general solution of precise position synchronous control for multi-axis servo systems. The control strategy to achieve high-precision motion is summarized in two main points: an adaptive-fuzzy friction compensator is adopted in the independent control loop of each axis to compensate the nonlinear friction, and then a method which combines global sliding mode control with two adjacent axes cross-coupling technology is proposed to minimize not only single-axis position error but also synchronous errors of all motion axes. At first, the adaptive fuzzy algorithm including dynamic model of the system is utilized to design a friction compensation controller. Next, to improve robustness of the multi-axis motion system against variation of motor parameters and external disturbances, global sliding mode control is introduced. In addition, the multi-axis synchronous control based on cross-coupling technology is elaborately designed via proportional-differential control law. The performance of the proposed control system is investigated through extensive simulations based on a popular motion platform. Furthermore, experimental study shows that the results successfully demonstrate the effectiveness of the proposed position synchronous control method for a general four-axis servo system.
Keyword:
Cross-coupling control (CCC)
friction compensation
global sliding mode control (GSMC)
multi-axis system
position synchronization
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期刊
IF:
7.2
论文数:
1.8W
被引数:
9.8W
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