Generalized synchronization control of multi-axis motion systems

被引：62
作者：
Xiao, Y
Zhu, KY
Liaw, HC
机构：
[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
[2] Singapore Inst Mfg Technol, Mechatron Grp, Singapore 638075, Singapore
来源：
CONTROL ENGINEERING PRACTICE | 2005年 / 13卷 / 07期
关键词：
motion control; synchronization; optimal control; Riccati difference equation;
D O I：
10.1016/j.conengprac.2004.09.005
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A generalized synchronization controller for multi-axis motion systems is developed by incorporating cross-coupling technology into the optimal control architecture. The basic idea is to minimize a new cost function for the augmented system model in which the synchronization errors are embedded, so that synchronization control of multiple motion axes is simplified as a Linear Quadratic Gaussian (LQG) optimal control problem. Then, by solving the corresponding Riccati Difference Equation (RDE) and coupled Lyapunov equation, the generalized synchronization control strategy is generated, and stability of the control system can be easily analyzed. Simulation and experimental results conducted on a high-precision positioning system with two permanent magnet linear motors (PMLMs) show that the proposed approach is effective. (c) 2004 Elsevier Ltd. All rights reserved.
引用
收藏
页码：809 / 819
页数：11
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