Research On Intelligent Synchronous Control Method For Direct Drive H Table

This topic is derived from the Liaoning province natural science fund project(2015020151). In this paper, we study the direct drive type H table consists of two parallel to the Y axis installation of permanent magnet linear synchronous motor and the X axis of a permanent magnet linear synchronous motor. Due to the load disturbance, the difference of electrical installation and mechanical coupling affects the precision of type H table. Therefore, the research purpose of this paper is to design a high accuracy intelligent synchronous control system, in order to achieve type H precision positioning platform precision positioning control of each axis, and the double linear motor synchronous control. So, in this paper, the nonsingular terminal sliding mode control, cross coupling control and fuzzy neural networks were studied, the effective controller is designed to meet the above requirements.Firstly, understanding the development situation and control method of the direct drive type H table at home and abroad. Then, due to the mechanical coupling effect between the two axis can cause synchronization error, and will cause the loss of control performance, this paper firstly uses the direct drive type H table triaxial linear response and sync with double linear motor cause the X axis rotor produces not expected the mement of inertia, for triaxial synchronization, the dynamic mathematical model of the type H table is deduced, to improve the three axis synchronous tracking response and double linear motor synchronization.Then, since the type H table at the run time, because of the difference of load disturbance,electrical installation and mechanical coupling, affect the tracking accuracy and synchronous control precision of the table. So, design the cross coupling modified nonsingular teminal sliding mode control system to solve this problem. When modified nonsingular teminal sliding mode controller is designed, the concept of boundary laver is introduced, using saturation function such as continuous function instead of the original function, to reduce the chattering phenomenon of the sliding mode control. When the cross-coupling controller is designed, the tracking error and synchronization error of single shaft together form a cross coupling error and make the tracking error and synchronization error can converge at the same time. Finally, using the MATLAB/Simulink to designed control system modeling and simulation analysis.Finally, in order to futher improve the system sychronization error, based on type Suegno fuzzy neural network compensation controller modified nonsingular teminal sliding mode control system is designed. In order to further restrain the load disturbance and table of mechanical coupling, with type Sugeno fuzzy neural network compensation controller to replace the cross-coupling controller. Fuzzy neural network takes both advantages, has the ability to apprximate any nonlinear continuous function, and can achieve any desired degree of accuracy, has a strong ability to learn and approximation, and fault tolerance. Using the MATLAB/Simulink to designed control system modeling and simulation analysis. With the cross coupling modified nonsigular teminal mode control system of the type H table,the simulation results of the comparison, proved type Sugeno fuzzy neural network compensation controller based modified nonsigular terminal sliding mode control system of synchronous control precision is higher.