Model-free adaptive control of dual-axis linear motor gantry system

摘要

The linear motor has characteristics of simple structure, high positioning accuracy and fast response. Now it is widely used in machinery manufacturing, aerospace industry and many linear motion occasions. In this paper, in order to realize accuracy tracking of two-axis linear motor gantry system, modified model free adaptive control is proposed and used to realize the position control. The controller design is just based on the input and output data of linear motor instead of motor mathematical model. For the gantry system, an experimental setup is built. In the designed experimental setup.we use Visual C++ to realize the control algorithm, PMAC Clipper to control the input and output data with, and D1 driver to drive the motor. At last, experiment results show that the method guarantees strong robustness for desired trajactory and satisfactory control performance.