Contour Error Control of X-Y Motion Platform Based on Robust Predictive

Du, Quankai; Xiong, Qibin; Liu, Wugen; Wang, Rongkun; Huang, Wenjie

doi:10.1109/ldia49489.2021.9505841

Cited by 3 publications

(1 citation statement)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Friction compensation control [4] and zero-phase error tracking control [5] are commonly used indirect methods, which respectively eliminate uniaxial tracking error caused by friction disturbance and system delay. Beside PID controller, advanced strategies, e.g., model-free control [6] and predictive control [7], can also achieve better tracking performances. The disturbance observer [8] added to the feedback-loop reduces the influences of uncertainty factors, which also improves uniaxial performances.…”

Section: Introductionmentioning

confidence: 99%

Active Cross Pre-Compensation Decoupling Control of X-Y Linear Motor Platform Based on Contour Error Analysis Model

Wang

Chen

et al. 2022

IEEE Access

Self Cite

View full text Add to dashboard Cite

To improve the position accuracy of the X-Y linear motor motion platform, this paper derives a contour error analysis model (CEAM) and proposes an active cross pre-compensation decoupling controller (ACPDC). Three major factors affect the tracking performance of the X-Y motion platform are obtained from the derived CEAM: uniaxial-axis subsystem performance, dynamic compatibility between multiple axes, and disturbances. CEAM also shows that better contour control can be achieved by combining the unified modeling idea. Therefore, the ACPDC proposed in this paper integrates the inter-axis controller and single-axis subsystem by establishing a unified control law that combines active precompensation control with linear active disturbance rejection control. The theoretical analysis based on CEAM shows that ACPDC achieves improvements in the above three aspects. Finally, experimental results on an X-Y linear motor platform support the CEAM analysis that ACPDC has better contouring performance than other multi-axis controllers. Compared with these controllers, ACPDC has the best system robustness and uniaxial tracking performance.

show abstract