期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 69, 期 10, 页码 10500-10509出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2021.3137619
关键词
Synchronization; Uncertainty; Control systems; Transient analysis; Trajectory; Steady-state; Tracking; Approximation-free robust synchronization control; cross-coupled control (CCC); dual linear motors driven system (DLMDS); prescribed performance
资金
- National Natural Science Foundation of China [U20A20188]
- Major Scientific and Technological Special Project of Heilongjiang Province [2021ZX05A01]
- Major Scientific and Technological Research Project of Ningbo [2021Z040]
This article proposes an approximation-free robust synchronization control scheme for dual-linear-motors-driven systems. It achieves high-precision tracking and synchronization performance without requiring explicit system model, reducing computational burden and complexity. The concept of prescribed performance is adopted to guarantee control effect and state constraints.
This article addresses the synchronization control problem for dual-linear-motors-driven systems with model uncertainties and disturbances. An approximation-free robust synchronization control scheme based on cross-coupled control (CCC) frame is proposed to achieve high-precision tracking and synchronization performance, along with excellent uncertainties and disturbances rejection ability. More specifically, the CCC frame is designed to handle the asynchronous motion of two parallel motors. The main advantage is that the proposed method does not require the explicit system model, and any approximations utilized to handle the model uncertainties, such as estimation, identification, and online learning, are not required. Therefore, the computational burden and complexity of the controller are significantly reduced. Considering the importance of the transient and steady-state response, the concept and technology of prescribed performance are adopted to guarantee the control effect and state constraints. In addition, none of the high-order derivatives of desired trajectory, difficult to obtain directly in many applications, are used in the proposed controller. Furthermore, the stability and convergence performance of the closed-loop system are rigorously demonstrated. Finally, comparative experiments show the effectiveness of this study via a dual-driven H-type gantry.
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