Robust Cross-Coupling Synchronous Control by Shaping Position Commands in Multiaxes System
Robust Cross-Coupling Synchronous Control by Shaping Position Commands in Multiaxes System
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DOI：
10.1109/tie.2011.2182012
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发表时间：
2012-01
影响因子：
7.7
通讯作者：
Chin-Sheng Chen;Li-Yeh Chen
中科院分区：
文献类型：
--
作者：
Chin-Sheng Chen;Li-Yeh Chen
本文提出了一种新的交叉耦合同步控制器结构，采用H∞控制方案来形成精确跟踪的位置命令，并对其稳定性进行了分析。该结构具有设计过程简单、鲁棒性强等优点。对该控制器进行了仿真和实验，并与非同步控制系统和常规控制系统进行了比较。仿真和实验结果表明，该结构显著降低了位置同步误差。此外，这种新的控制器可以很容易地实现在大多数目前使用的运动系统中使用的重新编程的参考位置命令子程序。
This paper proposes a new structure for cross-coupling synchronous controller using an H∞ control scheme to shape position commands for precise tracking in multiaxial motion control, together with its stability analysis. This proposed structure has the advantage that the controller has a simpler design process and more robust performance than conventional ones. The proposed controller is evaluated and compared simulated and experimentally with an unsynchronous controlled system and a conventional system. The simulated and experimental results show that the new structure reduces the position synchronous error remarkably. In addition, this new controller can easily be implemented on most currently used motion systems used by reprogramming the reference position command subroutine.