Contouring Control of Linear Motor Direct-Drive X-Y Table Via Chattering-Free Discrete-Time Sliding Mode Control

In this paper, a novel and precise contouring control strategy is designed based on the model of linear motor direct drive for X-Y table. This control strategy consists of two key parts-a precise Newton-based contouring error estimation (NCEE) and a chattering-free discrete-time sliding mode contour...

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Bibliographic Details
Main Authors: Kuang, Zhian, Yu, Zhiyuan, Sun, Guanghui, Lin, Weiyang, Gao, Huijun
Format: Conference Proceeding
Language:English
Subjects:
Electronic mail
Error analysis
Error correction
Friction
Intelligent control
Sliding mode control
Online Access:Request full text
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Summary:In this paper, a novel and precise contouring control strategy is designed based on the model of linear motor direct drive for X-Y table. This control strategy consists of two key parts-a precise Newton-based contouring error estimation (NCEE) and a chattering-free discrete-time sliding mode contouring error control (CDSM-CEC), and the details of designing the control strategy are stated. Specifically, NCEE is obtained according to the Newton-based extremum seeking, which is a dynamic method having rather good performance even when highly-curved reference contouring occurs. As for CDSM-CEC, it is developed from equivalent-control based sliding mode control, to reduce the ubiquitous chattering phenomenon in discrete-time sliding mode control. Experiments to track a circular contouring are implemented with comparison to prove the precise performance of the proposed contouring control strategy.
ISSN:2163-5145
DOI:10.1109/ISIE.2018.8433834