Generalized synchronization control of multi-axis motion systems

摘要

A generalized synchronization controller for multi-axis motion systems is developed by incorporating cross-coupling technology into the optimal control architecture. The basic idea is to minimize a new cost function for the augmented system model in which the synchronization errors are embedded, so that synchronization control of multiple motion axes is simplified as a Linear Quadratic Gaussian (LQG) optimal control problem. Then, by solving the corresponding Riccati Difference Equation (RDE) and coupled Lyapunov equation, the generalized synchronization control strategy is generated, and stability of the control system can be easily analyzed. Simulation and experimental results conducted on a high-precision positioning system with two permanent magnet linear motors (PMLMs) show that the proposed approach is effective.