Design of a Novel Synchronous Asymptotic Tracking Control for Dual Axis Direct Drive Platform

doi:10.3901/JME.2023.05.271

Abstract

Abstract: To solve the problem of synchronous feed in dual axis direct drive platform servo system, a novel synchronous control scheme combining cross-coupled iterative learning controller and adaptive jerk controller is proposed. Firstly, the synchronous error model is established. Cross-coupled controller is used to solve the coupled problem of the two axes. Adaptive PD-type learning law is designed to reduce synchronous error so that coordinated synchronization is implemented. The model feedforward control is used to compensate for parametric uncertainties to speed up the response. Adaptive jerk controller is adopted to suppress the uncertainties such as external disturbance and friction in the system, which can guarantee the asymptotic tracking control. The jerk is integrated to form the feedback control law, which ensures the stability and continuity of control signal. Adaptive update law of robust gain is designed to converge exponentially, which can weaken the effect of measurement noise and enhance the robustness of the system. The experimental results indicate that the control method can enhance the synchronous control performance of the system significantly. The control precision of the dual axis direct drive platform servo system is also improved.

Key words: dual axis direct drive platform, asymptotic tracking, servo system, adaptive jerk controller, synchronous control

CLC Number:

TP273
TM351

YUAN Hao, ZHAO Ximei. Design of a Novel Synchronous Asymptotic Tracking Control for Dual Axis Direct Drive Platform[J]. Journal of Mechanical Engineering, 2023, 59(5): 271-279.

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