Robust adaptive cross-coupling position control of biaxial motion system  

作　　者：CHEN Wei WANG DianDian GENG Qiang XIA ChangLiang 

机构地区：[1]School of Electrical Engineering and Automation, Tianjin University [2]Tianjin Key Laboratory of Advanced Technology of Electrical Engineering and Energy, Tianjin Polytechnic University

出　　处：《Science China(Technological Sciences)》2016年第4期680-688,1-3,共9页中国科学（技术科学英文版）

基　　金：supported by the National Basic Research Program of China("973"Project)(Grant No.2013CB035600);the National Natural Science Foundation of China(Grant No.51377121)

摘　　要：The stability and synchronous performance are usually hard to be improved simultaneously in the biaxial cross-coupling position motion control system.Based on analyzing the characteristics of the cross-coupling control system,a robust adaptive cross-coupling control strategy is proposed.To restrict influences of destabilizing factors and improve both of stability and synchronous performance,the strategy forces dual axes to track the same reference model using Narendra adaptive control theory.And then,a robust parameters adaptive law is proposed.The stability analysis of the proposed strategy is conducted by applying Lyapunov stability theory.Related simulations and experiments indicate that the proposed strategy can improve synchronous performance and stability simultaneously.

关 键 词：biaxial motion motor control system position tracking robust adaptive control CROSS-COUPLING synchronous error 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]