Global Iterative Sliding Mode Control of an Industrial Biaxial Gantry System for Contouring Motion Tasks

Wang, Wenxin; Ma, Jun; Cheng, Zilong; Li, Xiaocong; Silva, Clarence W. de; Lee, Tong Heng

doi:10.1109/tmech.2021.3096601

Cited by 22 publications

(8 citation statements)

References 39 publications

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“…It can be seen from formula (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14) that if the tracking error e is reduced to zero, F = G , the design principle of the feedforward controller F is to approximate the inverse of the controlled object model as much as possible.…”

Section: -Dof Control Term In 2-dof Mimo Decoupling Controllermentioning

confidence: 99%

“…This coupling is nonlinear because it is dependent on Y-position of the stage. Further, the motor force must be transformed into driving force/torque to each degree-of-freedom motion [5,6,7]. Therefore, the special structural design of the gantry high performance motion system increases the complexity of modeling and the design difficulty of motion controller.…”

Section: Introductionmentioning

confidence: 99%

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2-DOF MIMO decoupling control of the gantry high performance motion system

Zhang

Ding

Liu

et al. 2022

Fifth International Conference on Mechatronics and Computer Technology Engineering (MCTE 2022)

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The gantry high performance motion system is widely used in many high-precision servo motion scenarios. In this paper, a two-degree-of-freedom MIMO decoupling control strategy is proposed. In this strategy, a MIMO decoupling matrix is designed in a targeted manner, and a two-degree-of-freedom control structure composed of acceleration feedforward and closed-loop feedback control is used to suppress various disturbances, and then the motion coordination control of the motion stage is carried out from a global perspective. Finally, the effectiveness of the control strategy is verified by the actual test of the fourth-order setpoint trajectory tracking, and the performance is compared with the general cross-coupling control strategy. The results show that the root mean square value of the tracking error and the maximum absolute value of the tracking error in the combined test of the X, Y direction and the YX axis of the gantry high performance motion system have been effectively improved.

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Section: -Dof Control Term In 2-dof Mimo Decoupling Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

2-DOF MIMO decoupling control of the gantry high performance motion system

Zhang

Ding

Liu

et al. 2022

Fifth International Conference on Mechatronics and Computer Technology Engineering (MCTE 2022)

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show abstract

“…[5]. Furthermore, taking coupling, backlash effect and uncertain disturbances into account, a global iterative sliding mode control method was proposed to adaptively compensate for the matched unknown dynamics and suppress chattering by varying gains [6]. In addition, an extended set-membership filter-based observer was designed to estimate the backlash influence for a robotic flexible ureteroscope system [7].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Identification and Decoupling Sliding Mode Control of Macro-Micro Dual-Drive Motion Platform with Mechanical Backlash

Kang,

Zhang,

Huang

et al. 2023

Machines

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A macro–micro dual-drive motion platform is a class of key system utilized in ultra-precision instruments and equipment for realizing ultra-high-precision positioning, which relates to the fields of semiconductor manufacturing, ultra-precision testing and machining, etc. Aiming at the ultra-high-precision positioning control problem of macro–micro dual-drive systems containing mechanical backlash, this paper analyzes the combined effect of mechanical coupling and backlash, and proposes a macro–micro compound control strategy. Firstly, the system dynamic model, including mechanical coupling, is established, and a quasi-linear backlash model is also proposed. Secondly, based on the above model, a stepwise nonlinear identification method is proposed to obtain the backlash characteristic online, which is the basis of accurate backlash compensation. Then, for the macro–micro structure containing the backlash, a macro decoupling control method, combined with a micro adaptive integral sliding mode control method and backlash compensation, are designed coordinately to guarantee that the large-stroke macro–micro cooperative motion reaches micron-level accuracy. Moreover, the boundary of the positioning error is adjustable by tuning the controller parameters. Finally, both the simulation and experimental results demonstrate that the proposed identification method can estimate the time-varying backlash precisely in finite time, and the system positioning accuracy can achieve an average 20 μm with long stroke and backlash influence, which is much higher than that using the traditional method and provides theoretical guidance for high-precision positioning control of a class of dual-drive motion platform.

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“…For example, the servo control system, combined with position-speed-current loops, is usually used to track the defined trajectory via a PID controller [16]. The SMC controller is also used to decrease the tracking errors caused by external disturbances or parameter uncertainty in a dynamic motion system [17,18]. Although these methods can improve precision to some extent, their performance is limited by the phase delay of the feedback controller and the achieved bandwidth [19][20][21].…”

Section: Introductionmentioning

confidence: 99%

Position Tracking for Multi-Channel Double-Crystal Monochromator Scanning Based on Iterative Learning Control

Feng

et al. 2022

Actuators

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As a core component of the X-ray absorption fine structure spectroscopy (XAFS) system, the multi-channel double-crystal monochromator (DCM) can improve the time resolution of the system significantly. In contrast to the conventional single-channel DCM, the multi-channel DCM includes more pairs of crystals that are located separately in the master and slave motor axis with the same driving direction. However, a mismatched parallelism in the pitch direction, which can result from the manual mounting operation between the two separated crystals, directly affects the performance of the flux and the angular stability of the monochromatic beam. This poses a significant challenge to the precision position tracking of this system. In this paper, the mounting errors were translated into repetitive errors in the slave motor when the master motor was rotated at a constant velocity. Therefore, the iterative learning control (ILC) was considered in order to improve the tracking accuracy of the slave motor motion. The zero-magnitude error controller (ZMETC) was used to calculate the learning function to accelerate the convergence of the control inputs, and the convergence conditions of the control signal and error were also given. To validate the effectiveness of the proposed method, comparative experiments were performed on the motor motion platform. Experimental results indicated that the ILC effectively decreased the parallelism errors of the multi-channel DCM under various trajectories by comparing them with feedback controllers and the ZMETC, respectively.

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Global Iterative Sliding Mode Control of an Industrial Biaxial Gantry System for Contouring Motion Tasks

Cited by 22 publications

References 39 publications

2-DOF MIMO decoupling control of the gantry high performance motion system

2-DOF MIMO decoupling control of the gantry high performance motion system

Nonlinear Identification and Decoupling Sliding Mode Control of Macro-Micro Dual-Drive Motion Platform with Mechanical Backlash

Position Tracking for Multi-Channel Double-Crystal Monochromator Scanning Based on Iterative Learning Control

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