Accurate Contour Error Estimation-based robust contour control for dual-linear-motor-driven gantry stages

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2024-03-21 DOI:10.1016/j.mechatronics.2024.103174

Zhuang Kang , Weiyang Lin , Zhitai Liu , Ruiqi Xu

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Abstract

This article presents a novel adaptive contour control scheme for dual-linear-motors-driven gantry stages (DLMDGSs) with time-varying model parameters and disturbances, aiming to realize high-precision contour control. Specifically, a novel adaptive contour controller based on a coupled model is proposed, incorporating powerful projection adaption laws, to achieve the synchronization of multi-axis motors, regression of adaptive parameters, and high-precision contour performance. Additionally, a contour error estimation (CEE) method with four-order convergence rate is designed to ensure estimation accuracy, enhance estimation robustness, and reduce estimation time. Moreover, considering the periodicity of common control contour tasks, an iterative learning control (ILC) reference trajectory compensation structure is adopted to further improve the contour control effect. Finally, the stability and convergence of the closed-loop system are rigorously proven, and comparative experiments are conducted on a DLMDGS platform to demonstrate the superiority of the proposed control strategy.

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基于精确轮廓误差估计的双线性电机驱动龙门平台鲁棒轮廓控制

本文针对具有时变模型参数和干扰的双线性电机驱动龙门平台（DLMDGS）提出了一种新型自适应轮廓控制方案，旨在实现高精度轮廓控制。具体而言，本文提出了一种基于耦合模型的新型自适应轮廓控制器，该控制器结合了强大的投影自适应法则，可实现多轴电机同步、自适应参数回归和高精度轮廓性能。此外，还设计了一种具有四阶收敛率的轮廓误差估计（CEE）方法，以确保估计精度、增强估计鲁棒性并缩短估计时间。此外，考虑到常见轮廓控制任务的周期性，采用了迭代学习控制（ILC）参考轨迹补偿结构，进一步提高了轮廓控制效果。最后，严格证明了闭环系统的稳定性和收敛性，并在 DLMDGS 平台上进行了对比实验，证明了所提控制策略的优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.