Contouring Control of Linear Motor Direct Drive X Y Table Via Chattering Free Discrete Time Sliding Mode Control
In this paper, a novel and precise contouring control strategy is designed based on the model of linear motor direct drive for X Y table. This control strategy consists of two key parts a precise Newton based contouring error estimation (NCEE) and a chattering free discrete time sliding mode contouring error control (CDSM CEC) and the details of designing the control strategy are stated. Specifically, NCEE is obtained according to the Newton based extremum seeking, which is a dynamic method having rather good performance even when highly curved reference contouring occurs. As for CDSM CEC, it is developed from equivalent control based sliding mode control, to reduce the ubiquitous chattering phenomenon in discrete time sliding mode control. Experiments to track a circular contouring are implemented with comparison to prove the precise performance of the proposed contouring control strategy.
2018 IEEE 27th International Symposium on Industrial Electronics (ISIE)