一种双轴直驱平台新型同步渐近跟踪控制设计

针对双轴直驱平台伺服系统中存在同步进给的问题，提出一种交叉耦合迭代学习控制器与自适应加加速度控制器相结合的新型同步控制方法。首先，构建同步误差，利用交叉耦合控制器解决双轴的耦合问题；设计自适应PD型学习律减小同步误差，实现双轴协调同步。采用模型前馈控制补偿系统的参数不确定性，提高系统的响应速度。自适应加加速度控制器抑制系统中外部扰动、摩擦力等不确定性因素，实现系统的渐近跟踪控制。加加速度积分后形成反馈控制律，保证了控制信号的稳定性和连续性。设计自适应更新律，使鲁棒增益实现指数收敛并削弱测量噪声对系统的影响，增强系统的鲁棒性。系统实验结果表明，该方法能够明显地提高系统的同步性能，改善双轴直驱平台伺服系统的控制精度。

Design of a Novel Synchronous Asymptotic Tracking Control for Dual Axis Direct Drive Platform

To solve the problem of synchronous feed in dual axis direct drive platform servo system, a novel synchronous control scheme combining cross-coupled iterative learning controller and adaptive jerk controller is proposed. Firstly, the synchronous error model is established. Cross-coupled controller is used to solve the coupled problem of the two axes. Adaptive PD-type learning law is designed to reduce synchronous error so that coordinated synchronization is implemented. The model feedforward control is used to compensate for parametric uncertainties to speed up the response. Adaptive jerk controller is adopted to suppress the uncertainties such as external disturbance and friction in the system, which can guarantee the asymptotic tracking control. The jerk is integrated to form the feedback control law, which ensures the stability and continuity of control signal. Adaptive update law of robust gain is designed to converge exponentially, which can weaken the effect of measurement noise and enhance the robustness of the system. The experimental results indicate that the control method can enhance the synchronous control performance of the system significantly. The control precision of the dual axis direct drive platform servo system is also improved.