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...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-05-01
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| Series: | Entropy |
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| Online Access: | https://www.mdpi.com/1099-4300/23/5/633 |
| _version_ | 1797533559958798336 |
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| author | Yixiu Sun Lizhan Zeng Ying Luo Xiaoqing Li |
| author_facet | Yixiu Sun Lizhan Zeng Ying Luo Xiaoqing Li |
| author_sort | Yixiu Sun |
| collection | DOAJ |
| 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. |
| first_indexed | 2024-03-10T11:16:20Z |
| format | Article |
| id | doaj.art-953e6153227b4d1db0beddfe1ca0a85d |
| institution | Directory Open Access Journal |
| issn | 1099-4300 |
| language | English |
| last_indexed | 2024-03-10T11:16:20Z |
| publishDate | 2021-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Entropy |
| spelling | doaj.art-953e6153227b4d1db0beddfe1ca0a85d2023-11-21T20:23:56ZengMDPI AGEntropy1099-43002021-05-0123563310.3390/e23050633Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion PlatformYixiu Sun0Lizhan Zeng1Ying Luo2Xiaoqing Li3School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430070, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430070, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430070, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430070, ChinaH-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.https://www.mdpi.com/1099-4300/23/5/633H-type linear motor air floating motion platformDynamic modelingSynchronous controlFeed-forward controlFractional order biquad filter |
| spellingShingle | Yixiu Sun Lizhan Zeng Ying Luo Xiaoqing Li Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform Entropy H-type linear motor air floating motion platform Dynamic modeling Synchronous control Feed-forward control Fractional order biquad filter |
| 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 | H-type linear motor air floating motion platform Dynamic modeling Synchronous control Feed-forward control Fractional order biquad filter |
| url | https://www.mdpi.com/1099-4300/23/5/633 |
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