H型精密运动平台交叉耦合模糊PID同步控制

针对双直线电机驱动的H型精密运动平台由于永磁直线同步电机参数变化和扰动等不确定因素致使两边的运动不同步问题,提出一种交叉耦合模糊PID控制方法.在单轴中采用模糊PID控制作为位置控制器,速度控制器用普通的PI控制,以保证单轴跟踪精度;双轴间引入交叉耦合控制方法,消除双电机之间存在的机械耦合,进而减小了双轴间的位置同步误差.结果表明,将交叉耦合与模糊PID相结合的控制方法能够使H型精密运动平台的同步误差收敛于零,并且使系统具有较好的跟踪性能与鲁棒性.

Cross-coupled fuzzy PID synchronous control for H-type precision motion platform

Aiming at the nonsynchronous movement problem of both sides of H-type precision motion platform driven by two permanent magnet linear synchronous motors(PMLSM)which is caused by such uncertain factors as motor parameter variation and disturbance of PMLSM, an cross-coupled fuzzy PID control method was proposed. In the single axis, the fuzzy PID control was taken as the position controller, and the ordinary PI control was taken as the speed controller to guarantee the tracking accuracy of signal axis. In addition, the cross-coupled control(CCC)method was introduced into the two axes to eliminate the mechanical coupling between the two PMLSM, so that the synchronous position error between the two axes could be reduced. The results show that the control method combined the cross-coupled and fuzzy PID control can make the synchronous error of H-type precision motion platform converge to zero, and can make the system have good tracking performance and robustness.