DOB-Based Generalized Predictive Cross-Coupling Position Control for Biaxial System

Abstract

In order to optimize the control performance of the biaxial systems, the generalized predictive cross coupling control (GPCCC) strategy is introduced with the concept of a unified model in biaxial systems. GPCCC control design consists of two processes. First, generalized prediction algorithm is applied to the unified model of the two permanent magnet synchronous motors (PMSM), according to the known trajectory of multi-step prediction, rolling optimization and feedback correction to improve the accuracy of biaxial control. Then, the contour error adopts cross-coupling structure which can be the feedback quantity, as the extra correction of generalized predictive control structure. However, it reflects that the GPCCC control design does not consider the influence of disturbances and uncertainties. Therefore, a composite GPCCC method is proposed by embedding the disturbance observer (DOB) into the output prediction process to estimate the lumped disturbances. The simulation results demonstrate the high accuracy and the robustness for tracking performance of the proposed method in the biaxial system.