Abstract：In order to reduce the influence of system synchronization error on the contour tracking accuracy of the H-type platform driven by permanent magnet linear synchronous motor (PMLSM), the beam deflection angle caused by the position mismatch of parallel axis is defined as the equivalent synchronization error, and the integrated error model is hence built suitable for the direct drive H-type platform. At the same time, a nonlinear coupling model based on integrated error is established to transform the control target from contour tracking to fusion error convergence. Feedback linearization is used to decouple the nonlinear coupled dynamic equation with integrated error as state variable. For linear models, an adaptive integrated sliding mode controller (AISMC) is designed to reduce the strong dependence of feedback linearization control on the mathematical model of the system and improve the robustness of the system to load disturbances and parameter perturbations. The experimental results show that the proposed control method can not only improve the contour precision and synchronization precision, but also enhance the robustness of the system.
张康, 王丽梅. 考虑同步误差影响的直驱H型平台轮廓跟踪控制方法[J]. 电工技术学报, 2022, 37(8): 1982-1990.
Zhang Kang, Wang Limei. A Contour Tracking Control Method of Direct Drive H-Type Platform Considering the Influence of Synchronization Error. Transactions of China Electrotechnical Society, 2022, 37(8): 1982-1990.
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