Coordinated Control Of Linear Motor Based On Model-Free Adaptive Control

ABSTRACT:Linear motor due to its simple structure, high positioning accuracy, speed, sensitivity, and noise, safe and reliable, has been widely applied to many areas of industrial manufacturing and production process. The coordination of multiple motor or multi axis motor control is one of the important research topics in the research field of motor control.In recent years, the research and application of two-axis motor coordination control has made much progress, but there are still some problems:the existing control strategies need to establish a precise mathematical model of the motor system; System of the whole motion coordination are often at the expense of single shaft at the cost of independent control effect, namely to reduce the independent control of single shaft motor performance to improve the effect of coordination control system as a whole. For the above two control difficulty, to design a system that does not rely on accurate mathematical model of the controlled system, and take into account the both independent tracking and coordinate tracking performance of the control algorithm, has very important research significance and practical value. According to the above problem, model adaptive coordination control algorithm was proposed in this paper, the main contents are as follows:First of all, In the analysis of the structure and characteristics of the linear motor, based on the dual-axis linear motor proposed model free adaptive control method for data-driven, don’t need to know the exact mathematical model of controlled system, only by using the input and output data of controlled system controller design. In the controller design coordination errors added, making it possible to simultaneously take into account both independent coordinate tracking performance and tracking performance of linear motor, and through real-time adjustment of controller parameters, to meet the different needs of practical application.Secondly, through rigorous analysis to ensure that the proposed theoretical model free adaptive control algorithm convergence.Finally, comparing multiple sets of MATLAB simulation results verified the validity and effectiveness of the proposed control method. Select the controller of three groups of different parameters, or change the expected trajectory motor, verify that the independent tracking performance of the proposed control algorithm and coordinate performance; Join motor system of internal disturbance, and further verify the applicability of the proposed algorithm; Compared with PID control algorithm, illustrate the superiority of the proposed algorithm.