Simulation of Robust Optimal Synchronization Control for Direct Drive H-Type Motion Platform

doi:10.16182/j.issn1004731x.joss.20-0831

Abstract

Abstract:

A robust optimal synchronization control method based on coupling dynamics model of the H-type motion platform is proposed for the problem that the H-type motion platform driven directly by permanent magnet linear synchronous motor has uncertainties such as biaxial coupling, parameter perturbation and external disturbances, which affect the synchronization control accuracy and robustness of the system. A biaxial coupling dynamics model is established based on Euler-Lagrange equation. The cross coupling synchronization controller is designed to effectively combine the single-axis tracking error with the biaxial synchronization error and its rate of change. The $H ∞$ robust optimal synchronous controller is designed to overcome the influence of uncertain factors such as parameter perturbation and external disturbances to enhance the robustness of the system. The effectiveness of the method is demonstrated by simulation experiments.

Key words: direct drive H-type platform, permanent magnet linear synchronous motor, cross coupling control(CCC), hybrid error, robust optimal control

CLC Number:

TM359.4

Limei Wang, Hongyan Yao, Kang Zhang. Simulation of Robust Optimal Synchronization Control for Direct Drive H-Type Motion Platform[J]. Journal of System Simulation, 2022, 34(3): 527-535.

Figures/Tables 8

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