Robust Cross-Coupling Synchronous Control by Shaping Position Commands in Multiaxes System

This paper proposes a new structure for cross-coupling synchronous controller using an H ∞ control scheme to shape position commands for precise tracking in multiaxial motion control, together with its stability analysis. This proposed structure has the advantage that the controller has a simpler de...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2012-12, Vol.59 (12), p.4761-4773
Main Authors: Chen, Chin-Sheng, Chen, Li-Yeh
Format: Article
Language:English
Subjects:
Commands
Control systems
Cross-coupling synchronous controller (CCSC)
Design engineering
H_{\infty} control
Motion control
multiaxial motion control
position synchronous error
robust performance
Robustness
Sensitivity
Simulation
Subroutines
Synchronous
Synchronous motors
Torque control
Tracking
Vectors
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Summary:This paper proposes a new structure for cross-coupling synchronous controller using an H ∞ control scheme to shape position commands for precise tracking in multiaxial motion control, together with its stability analysis. This proposed structure has the advantage that the controller has a simpler design process and more robust performance than conventional ones. The proposed controller is evaluated and compared simulated and experimentally with an unsynchronous controlled system and a conventional system. The simulated and experimental results show that the new structure reduces the position synchronous error remarkably. In addition, this new controller can easily be implemented on most currently used motion systems used by reprogramming the reference position command subroutine.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2011.2182012