基于电流分配系数自适应修正的平面电机解耦控制

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Abstract For the planar motor motion system with uncertainty model parameters,the scheme of current distribution is the essence that causes the coupling effects between multi-degrees of freedom. The recently research on decoupled control was mainly focus on the control algorithm design of each degree of freedom,by which the problem of coupling was not solved from the physical level. In view of the decoupled control for the planar motor with three degrees of freedom,the ARMA(auto regressive and moving average) model is established by the current input and the position output of each coil,and the minimum square of residual error between the measured output and the estimated output is applied as the objective,then a decoupled control method is proposed on the basis of self-adaptive correction for current distribution coefficient,and the recursive discretization model is given out,which can be used in the actual control. By online adjustment,the estimated current distribution coefficients will approximate the actual model parameters,and then the coupling effects can be reduced from the physical nature. The trajectory tracking experiments are carried out,comparing with the decoupled control method of data base,and the results show that the positioning and tracking performance are improved. Thus the decoupling effectiveness for MIMO(multiple input multiple output) motion system is verified.

Key words： Planar motor decoupling current distribution self-adaptive correction

Received: 21 April 2014 Published: 22 January 2015

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TM359

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	Articles by authors
	Li Xin
	Zhu Yu
	Yang Kaiming
	Wang Xi

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Li Xin,Zhu Yu,Yang Kaiming等. Decoupled Control for Planar Motor Based on Self-Adaptive Correction for Current Distribution Coefficient[J]. Transactions of China Electrotechnical Society, 2014, 29(11): 53-60.

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http://dgjsxb.ces-transaction.com/EN/ OR http://dgjsxb.ces-transaction.com/EN/Y2014/V29/I11/53

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