Abstract：For improving the robustness of direct driving the XY servo platform in the nonlinear track processing,a method that combines the optimal position controller and the equivalent error contour controller is proposed.To meet the requirement of high tracking accuracy,the optimal position controller is designed by using the method of minimizing the integral of the product of time and absolute error.By choosing the equivalence errors as the state variables of the contour controller,they are with dynamic stability and then the contour error is reduced by the pole placement through feedback linearization.The results of the simulation and the experiment show that the proposed method can effectively suppress the periodic force disturbance caused by end effects and other disturbances,and then make the XY servo platform meet the requirements of high contour tracking accuracy.
武志涛,徐建英. 基于反馈线性化的直线电动机伺服平台轨迹跟踪控制研究[J]. 电工技术学报, 2015, 30(13): 143-149.
Wu Zhitao,Xu Jianying. Trajectory Tracking Control for the Linear Motor Servo Platform Based on Feedback Linearization. Transactions of China Electrotechnical Society, 2015, 30(13): 143-149.
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2015, Vol. 30 
