Cargando…
Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform
H-type motion platform with linear motors is widely used in two-degrees-of-freedom motion systems, and one-direction dual motors need to be precisely controlled with strict synchronization for high precision performance. In this paper, a synchronous control method based on model decoupling is propos...
Autores principales: | , , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8159128/ https://www.ncbi.nlm.nih.gov/pubmed/34069483 http://dx.doi.org/10.3390/e23050633 |
_version_ | 1783700016349577216 |
---|---|
author | Sun, Yixiu Zeng, Lizhan Luo, Ying Li, Xiaoqing |
author_facet | Sun, Yixiu Zeng, Lizhan Luo, Ying Li, Xiaoqing |
author_sort | Sun, Yixiu |
collection | PubMed |
description | H-type motion platform with linear motors is widely used in two-degrees-of-freedom motion systems, and one-direction dual motors need to be precisely controlled with strict synchronization for high precision performance. In this paper, a synchronous control method based on model decoupling is proposed. The dynamic model of an H-type air floating motion platform is established and one direction control using two motors with position dependency coupling is decoupled and converted into independent position and rotation controls, separately. For the low damping second-order oscillation system of the rotation control loop, a new fractional order biquad filtering method is proposed to generate an antiresonance peak to improve the phase and control gain of the open loop system, which can ensure system stability and quick attenuation for external disturbances. In the multiple-degree-of-freedom decoupled control loops, a systematic feedback controller design methodology is proposed to satisfy the given frequency domain design specifications; a feed-forward control strategy is also applied to compensate the disturbance torque caused by the platform motion. The simulation and experimental results demonstrate that the proposed synchronization control method is effective, and achieves better disturbance rejection performance than the existing optimal cancellation filtering method and biquad filtering method. |
format | Online Article Text |
id | pubmed-8159128 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-81591282021-05-28 Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform Sun, Yixiu Zeng, Lizhan Luo, Ying Li, Xiaoqing Entropy (Basel) Article H-type motion platform with linear motors is widely used in two-degrees-of-freedom motion systems, and one-direction dual motors need to be precisely controlled with strict synchronization for high precision performance. In this paper, a synchronous control method based on model decoupling is proposed. The dynamic model of an H-type air floating motion platform is established and one direction control using two motors with position dependency coupling is decoupled and converted into independent position and rotation controls, separately. For the low damping second-order oscillation system of the rotation control loop, a new fractional order biquad filtering method is proposed to generate an antiresonance peak to improve the phase and control gain of the open loop system, which can ensure system stability and quick attenuation for external disturbances. In the multiple-degree-of-freedom decoupled control loops, a systematic feedback controller design methodology is proposed to satisfy the given frequency domain design specifications; a feed-forward control strategy is also applied to compensate the disturbance torque caused by the platform motion. The simulation and experimental results demonstrate that the proposed synchronization control method is effective, and achieves better disturbance rejection performance than the existing optimal cancellation filtering method and biquad filtering method. MDPI 2021-05-19 /pmc/articles/PMC8159128/ /pubmed/34069483 http://dx.doi.org/10.3390/e23050633 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Sun, Yixiu Zeng, Lizhan Luo, Ying Li, Xiaoqing Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform |
title | Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform |
title_full | Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform |
title_fullStr | Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform |
title_full_unstemmed | Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform |
title_short | Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform |
title_sort | model decoupled synchronization control design with fractional order filter for h-type air floating motion platform |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8159128/ https://www.ncbi.nlm.nih.gov/pubmed/34069483 http://dx.doi.org/10.3390/e23050633 |
work_keys_str_mv | AT sunyixiu modeldecoupledsynchronizationcontroldesignwithfractionalorderfilterforhtypeairfloatingmotionplatform AT zenglizhan modeldecoupledsynchronizationcontroldesignwithfractionalorderfilterforhtypeairfloatingmotionplatform AT luoying modeldecoupledsynchronizationcontroldesignwithfractionalorderfilterforhtypeairfloatingmotionplatform AT lixiaoqing modeldecoupledsynchronizationcontroldesignwithfractionalorderfilterforhtypeairfloatingmotionplatform |