Synchronous Control of a Dual-drive Motion Platform Based on Adaptive Compensation of Synchronous Position Error

doi:10.3901/JME.2025.22.294

Abstract

Abstract: The synchronization error of a dual-drive motion platform leads to decreased positioning accuracy and increased frictional perturbation. To address these problems, a synchronous control method based on adaptive compensation of dual-motor tracking error is proposed for the dual-drive motion platform. Firstly, the models of linear motors are systematically established and the friction perturbation force caused by the synchronization error is analyzed. Then, an adaptive synchronous control architecture is constructed for the dual-drive motion platform. A selective compensation strategy of real-time synchronous error is proposed for the motor with weak tracking performance. Moreover, a synchronous position controller is devised by combining single-axis position command tracking and synchronous position error compensation. This controller is used to provide the speed control command while both the single-axis tracking accuracy and dual-axis synchronous performance are considered. Finally, the synchronous control simulation and experiment are conducted on a dual-drive motion platform. PID control algorithm is implemented in the loops of position control and speed control, respectively, and the control performances of several synchronous control strategies are compared. The results of simulation and experiment show that the proposed adaptive synchronous control strategy obviously outperforms the parallel synchronous control strategy. Compared with the cross-coupling control strategy, this designed control strategy can not only improve the position tracking accuracy of each motor remarkably, but also enhance the position synchronization performance of dual motors.

Key words: synchronous control, adaptive compensation, tracking control, dual-drive motion platform, PID control

CLC Number:

TP273

SHI Yixuan, WU Xing, MENG Kai, ZHANG Hangying, LOU Peihuang. Synchronous Control of a Dual-drive Motion Platform Based on Adaptive Compensation of Synchronous Position Error[J]. Journal of Mechanical Engineering, 2025, 61(22): 294-305.

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