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Optimal Cross-Coupled Synchronization Control of a Precision Motion Stage Driven by Dual Linear Motors

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Intelligent Robotics and Applications (ICIRA 2013)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8103))

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Abstract

In this paper, the optimal cross-coupled synchronization control of a precision motion stage driven by dual linear motors is investigated. The single axis controller of linear motor is composed of a cascade PID/PI controller and a hybrid velocity and acceleration controller (VFC/AFC). The cross-coupled synchronization control scheme is incorporated with the hybrid trajectory tracking PID/PI+VFC/AFC controller to improve the tracking performance of single axis and reduce the synchronization error of dual linear motors simultaneously. The design of cross-coupled synchronization controller is formulated as an optimal control problem in which the performance index to be minimized weights the synchronization error explicitly. Experimental results show that the optimal cross-coupled synchronization control scheme has superior synchronization performance than the independent axis control scheme in synchronization error reduction.

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Author information

Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Gang Zhang, Jian-hua Wu, Pin-kuan Liu & Han Ding

Authors
  1. Gang Zhang
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  2. Jian-hua Wu
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  3. Pin-kuan Liu
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  4. Han Ding
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Pusan National University, South Korea

    Jangmyung Lee

  2. School of Mechanical Engineering, Pusan National University, Busan, South Korea

    Min Cheol Lee

  3. Intelligent Systems & Biomedical Robotics Group, School of Creative Technologies, University of Portsmouth, PO1 2DJ, England, UK

    Honghai Liu

  4. School of Mechanical Engineering, Biorobotics Laboratory, Korea University of Technology and Education, Gajeon-ri Byeongcheon-myeon 307, 330-708, Cheonan, Korea

    Jee-Hwan Ryu

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© 2013 Springer-Verlag Berlin Heidelberg

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Zhang, G., Wu, Jh., Liu, Pk., Ding, H. (2013). Optimal Cross-Coupled Synchronization Control of a Precision Motion Stage Driven by Dual Linear Motors. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40849-6_36

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  • DOI: https://doi.org/10.1007/978-3-642-40849-6_36

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40848-9

  • Online ISBN: 978-3-642-40849-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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