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16 December 2022 2-DOF MIMO decoupling control of the gantry high performance motion system
Yang Zhang, Chenyang Ding, Weike Liu, Liang Guo
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Proceedings Volume 12500, Fifth International Conference on Mechatronics and Computer Technology Engineering (MCTE 2022); 125001R (2022) https://doi.org/10.1117/12.2662632
Event: 5th International Conference on Mechatronics and Computer Technology Engineering (MCTE 2022), 2022, Chongqing, China
Abstract
The gantry high performance motion system is widely used in many high-precision servo motion scenarios. In this paper, a two-degree-of-freedom MIMO decoupling control strategy is proposed. In this strategy, a MIMO decoupling matrix is designed in a targeted manner, and a two-degree-of-freedom control structure composed of acceleration feedforward and closed-loop feedback control is used to suppress various disturbances, and then the motion coordination control of the motion stage is carried out from a global perspective. Finally, the effectiveness of the control strategy is verified by the actual test of the fourth order setpoint trajectory tracking, and the performance is compared with the general cross-coupling control strategy. The results show that the root mean square value of the tracking error and the maximum absolute value of the tracking error in the combined test of the X, Y direction and the YX axis of the gantry high performance motion system have been effectively improved.
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Yang Zhang, Chenyang Ding, Weike Liu, and Liang Guo "2-DOF MIMO decoupling control of the gantry high performance motion system", Proc. SPIE 12500, Fifth International Conference on Mechatronics and Computer Technology Engineering (MCTE 2022), 125001R (16 December 2022); https://doi.org/10.1117/12.2662632
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KEYWORDS
Control systems
Motion controllers
Motion models
Performance modeling
Servomechanisms
Systems modeling
Feedback control
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