二维直线电机实时轮廓误差估计及无模型控制

Real-time Contour Error Estimation and Model-free Control for Two-dimensional Linear Motor

针对二维直线电机轮廓误差易受跟踪误差影响和复杂系统不易控制的问题,提出一种实时轮廓误差估计(CEE)和无模型自适应控制(MFAC)相结合的改进交叉耦合控制(CCC)策略。实时CEE依据当前实际位置信息和坐标变换思想,可以准确确定规则轮廓的轮廓误差点,得到轮廓误差真实值,避免受跟踪误差的影响。同时,对于单轴误差控制,依据系统的输入输出数据,设计出MFAC算法,避免对精准数学模型的依赖。仿真和实验结果表明,所提出的方法提高了系统的轮廓精度,降低了控制难度,验证了所提方法的正确性和有效性。

Aiming at the problem that contour error of two-dimensional linear motor is susceptible to tracking error and complex system is difficult to control,an improved cross-coupled contro(l CCC)strategy combining realtime contour error estimation(CEE)and model-free adaptive control(MFAC)was proposed.Real-time CEE is based on the current actual position information and coordinate transformation idea.It can accurately determine the contour error point of regular contour,get the true value of contour error,and avoid the influence of tracking error.Moreover,for single-axis error control,an MFAC algorithm was designed according to the input and output data of the system,which avoids the dependence on accurate mathematical model.The simulation and experimental results show that the proposed method improves the contour accuracy of the system,reduces the control difficulty,and verifies the correctness and effectiveness of the proposed method.