Precise Position Synchronous Control for Multi-Axis Servo Systems

This paper presents a general solution of precise position synchronous control for multi-axis servo systems. The control strategy to achieve high-precision motion is summarized in two main points: an adaptive-fuzzy friction compensator is adopted in the independent control loop of each axis to compe...

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Bibliographic Details
Published inIEEE transactions on industrial electronics (1982) Vol. 64; no. 5; pp. 3707 - 3717
Main Authors Zhong, Guoliang, Shao, Zhizhong, Deng, Hua, Ren, Junli
Format Journal Article
LanguageEnglish
Published New York IEEE 01.05.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive algorithms
Adaptive control
Axes (reference lines)
Computer simulation
Control systems
Couplings
Cross coupling
Cross-coupling control (CCC)
Friction
friction compensation
Fuzzy logic
Fuzzy systems
global sliding mode control (GSMC)
Mathematical model
multi-axis system
position synchronization
Robustness
Servocontrol
Servomotors
Sliding mode control
Uncertainty
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Summary:This paper presents a general solution of precise position synchronous control for multi-axis servo systems. The control strategy to achieve high-precision motion is summarized in two main points: an adaptive-fuzzy friction compensator is adopted in the independent control loop of each axis to compensate the nonlinear friction, and then a method which combines global sliding mode control with two adjacent axes cross-coupling technology is proposed to minimize not only single-axis position error but also synchronous errors of all motion axes. At first, the adaptive fuzzy algorithm including dynamic model of the system is utilized to design a friction compensation controller. Next, to improve robustness of the multi-axis motion system against variation of motor parameters and external disturbances, global sliding mode control is introduced. In addition, the multi-axis synchronous control based on cross-coupling technology is elaborately designed via proportional-differential control law. The performance of the proposed control system is investigated through extensive simulations based on a popular motion platform. Furthermore, experimental study shows that the results successfully demonstrate the effectiveness of the proposed position synchronous control method for a general four-axis servo system.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2017.2652343