精密直驱龙门系统的交叉耦合互补滑模控制

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Abstract A control method combining cross-coupled control (CCC) and complementary sliding mode control (CSMC) is proposed for precision position synchronization control problems of dual linear motors servo system in a gantry position stage.Considering that the permanent magnet linear synchronous motor (PMLSM) is vulnerable to the influence of the uncertainties, such as inherent end effect, parameter variations, external disturbances and nonlinear friction and so on, the dynamic model of the linear servo system with uncertainties is established.Then, dual linear motors servo system based on CCC and CSMC is designed in order to make the system achieve accurate position tracking performance with high precision and strong robustness.The advantage of CSMC which is not sensitive to uncertainty factors and with small chattering is used for guaranteeing position tracking precision of the single axis in dual linear motors servo system.CCC is introduced into dual linear motors servo system to eliminate the coupling between the dual linear motors, thus the position synchronization error is reduced.Finally, some system experimental results are illustrated to show that the proposed control method has fast tracking performance and strong robustness.It can satisfy actual production requirements with high precision and strong robustness.

Key words： Dual linear motors servo system cross-coupled control complementary sliding mode control synchronous control

Received: 07 December 2014 Published: 29 June 2015

PACS:

TP273

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	Zhao Ximei
	Zhao Jiuwei

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Zhao Ximei,Zhao Jiuwei. Cross-Coupled Complementary Sliding Mode Control for Precision Direct-Drive Gantry System[J]. Transactions of China Electrotechnical Society, 2015, 30(11): 7-12.

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https://dgjsxb.ces-transaction.com/EN/ OR https://dgjsxb.ces-transaction.com/EN/Y2015/V30/I11/7

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