Nonlinear Adaptive Control for A Linear-Motor-Driven Two Axes through A Enhanced Cross-Coupling Algorithm

개선된 교차축 연동제어기를 통한 리니어 모터의 비선형 적응제어

The linear motors are easily affected by load disturbance, force ripple, friction, and parameter variations because there is no mechanical transmission to reduce the effects of model uncertainties and external disturbance. For highspeed/high-accuracy position control of a linear-motor-driven two axes, a nonlinear adaptive controller including a cross-coupling algorithm is designed in this paper. The nonlinear effects such as friction and force ripple are estimated and compensated. An enhanced approach for cross-coupling algorithm is proposed to effectively improve the biaxial contour accuracy with the closed-loop stability. The proposed controller is evaluated through the computer simulations.