Spatial decoupling control strategy of three-axis linear motor based on sliding mode controller

Abstract

In this article, the three-axis motion platform built by linear motor is taken as the research object, and a new control scheme is designed to solve the problems of low operation accuracy and response speed when the three-axis motion system completes the spatial contour tracking task. This article establishes the spatial contour error model and effectively reduces the spatial contour error by designing an adaptive super-twisting decoupling sliding mode controller. At the same time, based on the finite-time reachability theory and adaptive control theory, the control strategy adopted in this article can improve the response speed of the system. And, the parameters of the controller can be adjusted adaptively according to the disturbance, thus enhancing the robustness of the system. The effectiveness of the control strategy is verified by simulation and experiment.