Multiple input multiple output model free adaptive contour control for two-dimensional linear motor

被引：5

作者：

Zeng Z.-Q. ^{[1
]}

Cao R.-M. ^{[1
]}

Hou Z.-S. ^{[2
]}

Zhou H.-X. ^{[3
]}

机构：

[1] School of Automation, Beijing Information Science and Technology University, Beijing

[2] School of Automation, Qingdao University, Qingdao, 266071, Shandong

[3] Beijing Jin Duo Technology Development Co. Ltd., Beijing

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2020年 / 37卷 / 05期

基金：

中国国家自然科学基金;

关键词：

Contour error; Cross coupling; Linear motor; MIMO system; Model-free adaptive control; Non-linear system;

D O I：

10.7641/CTA.2019.90001

中图分类号：

学科分类号：

摘要：

The traditional SISO controller can't solve the problems of non-linearity, uncertainty and strong coupling of two-dimensional linear motor, according to the fact that the model-free adaptive control does not depend on the precise mathematical model of the controlled system, it can realize the adaptive control only by the input and output data of the controlled system. A compact form dynamic linearization model-free adaptive control algorithm (CFDL-MFAC) with multiple input and multiple output (MIMO) is used to design the overall controller for the XY axis of a two-dimensional linear motor. At the same time, an improved multi-input multi-output model-free adaptive control method is proposed for a two-dimensional linear motor, which is a non-self-balancing system with a pure second-order integral unit, the stability and convergence are strictly proved. In order to improve the contour accuracy of two-dimensional linear motor, a crosscoupling controller is added based on the improved multi-input multi-output model-free adaptive control method. Compared with the traditional cross-coupling control method, the tracking accuracy and contour accuracy are improved. Finally, the effectiveness of the proposed scheme is proved by simulation and practical experiments. © 2020, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.

引用

页码：1007 / 1017

页数：10

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