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A Novel Precision Synchronization Control via Adaptive Jerk Control with Parameter Estimation for Gantry Servo System

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  • Control Theory and Applications
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Abstract

This article presents a novel precision synchronization control method and corresponding control design using adaptive jerk control (AJC) with parameter estimation to improve the synchronous performance for gantry servo system with parametric variations and unknown disturbances. Initially, cross-coupled control (CCC) is provided to realize the synchronous cooperation of two parallel permanent magnet linear synchronous motors (PMLSMs), and the coupled system model is transformed into a state-space form. Consequently, the filtered errors based on synchronous error and position tracking error are established to simultaneously guarantee that both the synchronous error and position tracking error converge to zero asymptotically. Then, AJC is proposed to handle the uncertainty. More specifically, an adaptive feedback gain is involved in the AJC for improving the robustness, without requiring a priori knowledge of the uncertainty. A novel adaptation law is introduced to update the adaptive feedback gain. Moreover, a terminal attractor is incorporated into the adaptation law to improve the convergence even with noise. Therefore, the chattering phenomenon are significantly alleviated. Meanwhile, parameter estimation is employed to address the model parametric variations. Experimental results demonstrate the efficiency and superior performance of the precision synchronization control method.

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Authors and Affiliations

  1. School of Electrical Engineering, Shenyang University of Technology, Shenyang, 110870, China

    Hao Yuan & Ximei Zhao

Authors
  1. Hao Yuan
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  2. Ximei Zhao
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Correspondence to Ximei Zhao.

Additional information

Hao Yuan was born in Dalian, China, in 1992. He received his B.S. degree in engineering from Qingdao University of Technology, Qingdao, China in 2014, and an M.S. degree in electrical engineering from Shenyang University of Technology, Shenyang, China, in 2019. He is currently pursuing a Ph.D. degree in electrical engineering at Shenyang University of Technology. His current research interests include design of PMLSM servo system, coordinated synchronization control of multi-axis servo system, intelligent control, nonlinear and robust control, and precision motion control.

Ximei Zhao was born in Changchun, Jilin, China, in 1979. She received her B.S., M.S., and Ph.D. degrees in electrical engineering from Shenyang University of Technology, Shenyang, China, in 2003, 2006, and 2009, respectively. She is currently a professor and a doctoral supervisor with the School of Electrical Engineering in Shenyang University of Technology. Her research interests are electrical machines, motor drives, motor control, intelligent control, and robot control. She has authored or coauthored more than 100 technical papers, 3 textbooks and holds 15 patents in these areas.

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This work was supported in part by the Liaoning Provincial Natural Science Foundation of China under Grant 20170540677.

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Yuan, H., Zhao, X. A Novel Precision Synchronization Control via Adaptive Jerk Control with Parameter Estimation for Gantry Servo System. Int. J. Control Autom. Syst. 21, 188–200 (2023). https://doi.org/10.1007/s12555-021-0822-5

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  • DOI: https://doi.org/10.1007/s12555-021-0822-5

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