A Contour Tracking Control Method of Direct Drive H-Type Platform Considering the Influence of Synchronization Error

被引：0
|
作者：
Zhang K. [1 ]
Wang L. [1 ]
机构：
[1] School of Electrical Engineering, Shenyang University of Technology, Shenyang
来源：
Diangong Jishu Xuebao/Transactions of China Electrotechnical Society | 2022年 / 37卷 / 08期
关键词：
Adaptive integral sliding mode control; Contour control; Direct drive H-type platform; Feedback linearization; Synchronization error;
D O I：
10.19595/j.cnki.1000-6753.tces.201037
中图分类号：
学科分类号：
摘要：
In order to reduce the influence of system synchronization error on the contour tracking accuracy of the H-type platform driven by permanent magnet linear synchronous motor (PMLSM), the beam deflection angle caused by the position mismatch of parallel axis is defined as the equivalent synchronization error, and the integrated error model is hence built suitable for the direct drive H-type platform. At the same time, a nonlinear coupling model based on integrated error is established to transform the control target from contour tracking to fusion error convergence. Feedback linearization is used to decouple the nonlinear coupled dynamic equation with integrated error as state variable. For linear models, an adaptive integrated sliding mode controller (AISMC) is designed to reduce the strong dependence of feedback linearization control on the mathematical model of the system and improve the robustness of the system to load disturbances and parameter perturbations. The experimental results show that the proposed control method can not only improve the contour precision and synchronization precision, but also enhance the robustness of the system. © 2022, Electrical Technology Press Co. Ltd. All right reserved.
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页码：1982 / 1990
页数：8
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