Control of a Symmetrical Dual-Drive Gantry System Using Energetic Macroscopic Representation

Kestelyn, Xavier; Gomand, Julien; Bouscayrol, Alain; Barre, Pierre-Jean

doi:10.4028/www.scientific.net/ssp.144.181

Cited by 3 publications

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Robust decoupled synchronization control of dual‐motor servo systems by mechanical parameter identification

Zhang

Wang

Fang

2022

IET Power Electronics

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In the dual‐motor servo system driven by permanent magnet linear synchronous motor, a synchronous control strategy based on coupling parameter identification algorithm and feedback linearization decoupling controller is proposed to overcome the influence of mechanical coupling on the synchronous control performance of the system. Firstly, the mathematical model of synchronous motion system with mechanical coupling dynamics is established. Secondly, a novel coupling parameter identification structure based on disturbance observer is designed. Additionally, the input excitation adopts relatively smooth sinusoidal position and velocity signals to avoid damage to the mechanical structure. Then the feedback linearization method is used to decouple the coupled synchronous control system, and the integrated sliding mode controller is designed for the linear subsystem to improve the robustness of the system. Finally, the experimental results show that the proposed identification method can accurately identify the coupling parameters of the system, and the feedback linearized sliding mode controller based on the identification parameters can effectively eliminate the influence of mechanical coupling and improve the performance of synchronous control.

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