同步(交流)
解耦(概率)
运动控制
计算机科学
控制理论(社会学)
对偶(语法数字)
控制工程
控制系统
偏移量(计算机科学)
工程类
控制(管理)
人工智能
机器人
频道(广播)
艺术
文学类
程序设计语言
电气工程
计算机网络
作者
Bin Xie,Li Lei,Yuan Yao,Yesong Li
出处
期刊:IEEE Transactions on Industrial Electronics
[Institute of Electrical and Electronics Engineers]
日期:2022-01-01
卷期号:70 (2): 1270-1281
标识
DOI:10.1109/tie.2022.3158018
摘要
Dual parallel motion systems are mechanisms that drive load jointly by dual parallel motion axes. For these special mechanisms, diminishing desynchronization between parallel axes is essential to harness the potential performance of the whole system. However, a wide variety of synchronization applications tend to have great differences in control objectives and mechanical structures, which makes it laborious and time-consuming to design customized control schemes. Meanwhile, existing generalized synchronous control schemes are simply based on state compensation, which finitely offset mechanical coupling effect and limit the synchronization performance. To overcome these drawbacks, a generalized model of dual parallel motion systems is presented in this paper, which can categorize the synchronous control objective into one uniform expression. By applying motion decoupling strategy to the generalized model, an advanced composite synchronous control scheme is proposed, which provides a generalized synchronization solution with comprehensively considering the motion coupling effect. Finally, simulation and experimental results on a dual-driven gantry platform verify that the proposed control scheme can significantly improve the synchronization performance.
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